CN107643508A - Indoor locating system - Google Patents
Indoor locating system Download PDFInfo
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- CN107643508A CN107643508A CN201710744017.1A CN201710744017A CN107643508A CN 107643508 A CN107643508 A CN 107643508A CN 201710744017 A CN201710744017 A CN 201710744017A CN 107643508 A CN107643508 A CN 107643508A
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Abstract
The invention discloses a kind of indoor locating system, including：Multiple positioning anchor points periodically send self-ID information by encryption/non-encrypted broadcast frame；Positioning label is arranged in target to be positioned, and positioning tag scan receives the id information of multiple positioning anchor points and the signal intensity RSSI value of corresponding positioning anchor point, and wirelessly sends；Positioning gateway receives the information that positioning label is wirelessly sent and sent；Location-server receives id information, signal intensity RSSI value and the positioning label self ID for multiple positioning anchor points that positioning gateway is sent, and the positional information of the corresponding positioning anchor point of id information inquiry of the positioning anchor point by receiving, distance value between positioning label and each positioning anchor point is calculated by the signal intensity RSSI value received, the positional information of positioning label indoors is obtained by location algorithm afterwards.The present invention can obtain higher positioning precision, meet the needs of rapid large-area covering.
Description
Technical field
The present invention relates to field of locating technology.A kind of it is more particularly related to indoor locating system.
Background technology
With the development and popularization of technology of Internet of things, contacting between people and all things on earth becomes more close.And position conduct
The build-in attribute of one things, desirability are just growing day by day.In outdoor, GPS technology can meet most outdoor scenes
Under locational requirement, thus the application based on GPS positioning technology is very extensive.And for indoor environment, due to gps signal without
Method covers, and causes it can not directly apply to interior.Indoor environment is more complicated compared to outdoor environment simultaneously, although having deposited
In the scheme of multiple indoor positioning, such as UWB ultra wide bands, Bluetooth gateway Passive Positioning, inertial navigation, RFID region detections etc..
But it is always to restrict it to position being widely applied for application field indoors that construction cost is too high.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of indoor locating system, there is low engineering cost (including construction cost
It is low low with equipment cost, while construction deployment is simple and quick) advantage, while higher positioning precision can be obtained, met fast
The demand of fast large area covering.
In order to realize according to object of the present invention and further advantage, there is provided a kind of indoor locating system, including：
Multiple positioning anchor points, it is fixed on the interior space, the broadcast frame period that the positioning anchor point passes through encryption/non-encrypted
Property send self-ID information；
Label is positioned, it is arranged in target to be positioned, and the positioning tag scan receives the ID of multiple positioning anchor points
The signal intensity RSSI value of information and corresponding positioning anchor point, and wirelessly send；
Gateway is positioned, it receives the id information for multiple positioning anchor points that positioning label is wirelessly sent, signal intensity RSSI value
And positioning label self ID, and sent by wire/wireless mode；
Location-server, it is stored with the ID of multiple positioning anchor points and corresponding positional information, the location-server
Id information, signal intensity RSSI value and the positioning label self ID for multiple positioning anchor points that the positioning gateway is sent are received,
And the positional information of the corresponding positioning anchor point of id information inquiry of the positioning anchor point by receiving, pass through the signal intensity received
RSSI value calculates the distance value between positioning label and each positioning anchor point, obtains positioning label indoors by location algorithm afterwards
Positional information.
Preferably, in addition to positioning terminal, it is the mobile phone with Bluetooth function, computer or tablet personal computer；
The positioning terminal scanning receives the non-encrypted broadcast frame of multiple positioning anchor points, obtains the ID letters of corresponding positioning anchor point
The signal intensity RSSI value of breath and corresponding positioning anchor point, and the location-server is transmitted through the network to, the positioning clothes
The positional information for the device acquisition positioning terminal of being engaged in.
Preferably, in addition to anchor point management device, it communicate with multiple positioning anchor points to receive the shape for positioning anchor point
State information, and the status information wire/wireless of the positioning anchor point of reception is transmitted to the location-server.
Preferably, in addition to repeater is positioned, its transmission channel parameter is arranged to and the positioning gateway channels parameter
Identical, the positioning repeater is arranged at the positioning unlapped interior space of gateway, the positioning repeater and unlapped room
The positioning label communication in interior space with receive the id information of multiple positioning anchor points for sending of positioning label, signal intensity RSSI value with
And positioning label self ID, and wirelessly it is sent to the positioning gateway.
Preferably, the positioning repeater has one or more independent radio frequency links.
Preferably, the positioning gateway includes：
Power module, it is central processing unit and remaining module for power supply；
Central processing unit；
Network communication module, its network interface is Ethernet interface, wifi interfaces, 4G interfaces, one in NB-IOT interfaces
Individual or multiple, the network communication module is connected with the central processing unit；
Multiple radio-frequency modules, it is connected with the central processing unit.
Preferably, the radio-frequency module is SX1280 chips.
Preferably, the positioning repeater includes second source module, second processor, radio frequency chip and periphery electricity
Road.
The present invention comprises at least following beneficial effect：
1. existing indoor positioning scheme construction cost is high, and anchor point super low-power consumption is positioned in the application, supplied using battery
Electricity, it is wirelessly transferred, does not power for net, easy for installation, construction cost is low, cruising time length, and maintenance cost is low.
2. poor, similar with this programme bluetooth beacon targeting schemes of existing wireless indoor positioning network stabilization, by
It can not be monitored in its beacon state, therefore stability is low, it is difficult in maintenance.And the positioning anchor point of this programme can periodically be sent
Oneself state information, while it is equipped with anchor point management device or the positioning gateway with anchor point management function.Anchor point state can
Monitoring, network state can monitor, and the low electricity of anchor point, damage, operation irregularity can find and safeguard in time, and network stabilization is high.
3. for internet security, positioning anchor point can support broadcast encryption mode, and its content is encrypted transmission, only
There is the equipment for possessing key to obtain its specifying information, thus its network is safe.
4. supporting positioning terminal and positioning the equipment positioning of two kinds of forms of label, accomplish that a net is multi-purpose.
5. the covering power of network, positioning repeater can realize the extension of positioning label signal transmission range, Ke Yikuo
The coverage of exhibition positioning gateway, the deployment density of positioning gateway is reduced, improving the transmittability of dead angle signal further reduces
Cost.
6. network capacity, positioning gateway, which has, supports multiple independent channels, can extend the ability of its reception signal at double
With covering power (each channel is directed to distance, and bandwidth demand is independently arranged).
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is indoor locating system Organization Chart of the present invention；
Fig. 2 is positioning label flow chart of the present invention；
Fig. 3 is the system architecture of positioning repeater of the present invention；
Fig. 4 is the half-duplex system structure of the embodiment of the present invention 1；
Fig. 5 is the full duplex system structure of the embodiment of the present invention 2；
Fig. 6 is the positioning gateway architecture figure that the present invention has anchor point management function；
Fig. 7 is the schematic diagram of the embodiment of the present invention 3；
Fig. 8 is the indoor positioning deployment scheme of the embodiment of the present invention 4.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
In the description of the invention, term " transverse direction ", " longitudinal direction ", " on ", " under ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " top ", " bottom ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position
Relation is put, is for only for ease of and is described of the invention and simplify description, is not that device or the element of instruction or hint meaning are necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in figure 1, the present invention provides a kind of indoor locating system, including：
Multiple positioning anchor points, it is fixed on the interior space, positions the arrangement of anchor point：Positioning anchor point is disposed in required quilt
Can be ceiling in the space of positioning, on ground or wall, the purpose is to allow its radio broadcasting signal to cover its installation position
Neighboring area is put, it is typically proper with 6~8 meters be spaced apart according to installation experience.Packing density is higher, and cost is higher,
Its certain positioning precision is also higher.The positioning anchor point periodically sends self-ID information by encryption/non-encrypted broadcast frame.
The position of the positioning anchor point is fixed, is fixed on some point for needing to be positioned in space, has specific position letter
Breath, can be as the reference point of locus, thus only it is to be understood that relative position letter between the object that is positioned and positioning anchor point
Breath, the actual letter for being positioned object can be obtained with the positional information of the positioning anchor point referenced by being inquired about by location-server
Breath.In addition, the positioning anchor point power consumption is extremely low, battery powered, small volume can be used, thus its installation is convenient, construction is letter
Single, maintenance is simple.Anchor point is positioned periodically as surrounding space broadcasts the identity information of oneself (by radio broadcasting frame
The mode of data), thus it can be identified, as long as positioning label or positioning terminal can receive the wide of the positioning anchor point
Broadcast information, the signal intensity RSSI value with regard to its broadcast frame can be obtained, can with calculate itself between the positioning anchor point away from
From information.Positioning anchor point broadcast frame may choose whether encryption, if non-encrypted, using standard agreement, (such as bluetooth ibeacon is assisted
View), then it can be positioned terminal reception；Such as data format of the device broadcasts bluetooth ibeacon agreements, then mention in system
Positioning terminal (mobile terminal such as the mobile phone with Bluetooth function, computer, tablet personal computer) can be to receive and parse the positioning anchor
The identity information of point；Such as the equipment uses encrypted transmission, then positions the default key for decrypting the anchor point data format of labeling requirement,
It could communicate, thus it is safe.The positioning anchor point can simultaneously the non-encrypted broadcast frame of periodic broadcast and broadcast encryption frame,
So can both realize the positioning of general positioning terminal (mobile terminal such as the mobile phone with Bluetooth function, computer, tablet personal computer) needs
Ask, can also meet the location requirement for positioning label for thering is encryption to set or set without encryption.The anchor point can be periodically as week
Confining space broadcasts the status information of oneself, working condition, charge condition etc., and these information can be received and solved by anchor point management device
Analyse and pass back to location-server, because positioning anchor point state can monitor.The network state is predictable, if some anchor
These information are not broadcasted in the point some time, then can be concluded that the anchor point operation irregularity；If the information in the anchor point broadcast frame
The anchor point operation irregularity or low battery are indicated, then network manager can find the position progress of the anchor point by these information
Maintenance is safeguarded.The anchor point has state instruction or low electric indicator function (lamp, sound etc.), and user can be somebody's turn to do by observation
Anchor point configured information judges whether the anchor point is working properly；8th, the anchor point parameter is configurable, and it can match somebody with somebody with specifying
The instrument of putting, which interacts, realizes parameter configuration (such as work period, identity id information etc.)；Simultaneously its again can Remote configuration,
Opened in specified time section after its broadcasting status messages and receive window, can interacted with anchor point management device, realize parameter
Configuration.
As shown in Fig. 2 positioning label, it is arranged in target to be positioned, and it is multiple fixed that the positioning tag scan receives
The signal intensity RSSI value of the id information of position anchor point and corresponding positioning anchor point, and wirelessly send.Position label ginseng
Number is configurable, and (including mode of operation, encryption are (secret for the configuration that can be realized by specified configuration tool to its parameter
Key)/non-encrypted；The information such as identity ID, work period, transceiver channel parameter), but its parameter is fixed after the completion of configuration.It is fixed
Position label has the ability that scanning receives the encryption of positioning anchor point or non-encrypted broadcast；If it is configured to encrypt mould in feature one
Formula, then it can receive the broadcast encryption frame of positioning anchor point, and the key of available configuration decrypts real broadcast message；If in spy
Unencrypted mode is configured in sign one, then it can receive the non-encrypted broadcast of positioning anchor point and directly obtain broadcast message.It is fixed
Position label has wireless signal transmitting capacity, will receive positioning anchor point information, signal strength values and self ID are sent to positioning
Gateway.Positioning label has state-indicating function, can indicate its own working condition, such as failure, low electricity etc..Positioning label is set
Sound status monitoring state is set to, different working methods (1s under such as motion state can be taken according to the difference of sound state
Once receive positioning anchor point information, the i.e. refresh rates of 1s once；5min once receives positioning anchor point information, i.e. 5min under inactive state
Refresh rate), more preferable power consumption control is obtained with this, reaches more preferable endurance.Positioning label form be it is various, can
To be label, card, bracelet, the various shapes such as wrist-watch, unlimited profile pattern, as long as realizing Core Feature therein.
Gateway is positioned, it receives the id information for multiple positioning anchor points that positioning label is wirelessly sent, signal intensity RSSI value
And positioning label self ID, and sent by wire/wireless mode.Positioning gateway can be communicated with positioning label, i.e.,
Obtain the passback positional information of positioning label.Positioning gateway has network savvy, can pass through the wireless modes such as Ethernet, wifi
The positioning label information received is passed back into server.Positioning gateway has multiple channels, and each channel can individually match somebody with somebody
Put, positioning gateway has multiple radio frequency links that can work independently, and can be configured to identical or different channel, realizes bigger
Bandwidth and access amount, concurrency is bigger, while each channel can be configured to band preference or distance priority, realize it is different away from
From different capabilities covering (such as lora modulation radio frequency chip, different transmission can be realized by configuring spreading factor SF
Distance).There is positioning gateway working condition to indicate (mode such as indicator lamp, sound) function, can show that itself working condition is believed
Breath, is maintained easily.
Location-server, it is stored with the ID of multiple positioning anchor points and corresponding positional information, the location-server
Id information, signal intensity RSSI value and the positioning label self ID for multiple positioning anchor points that the positioning gateway is sent are received,
And the positional information of the corresponding positioning anchor point of id information inquiry of the positioning anchor point by receiving, pass through the signal intensity received
RSSI value calculates the distance value between positioning label and each positioning anchor point, obtains positioning label indoors by location algorithm afterwards
Positional information.The function of location-server is to receive the location data for the positioning label that positioning gateway uploads, and is drawn by positioning
Hold up and obtain the specific so as to reach the purpose of positioning of outgoing label with location algorithm, while it has the function of data-pushing, will position
Data-pushing is to correlation program.
Location-server can be connected by network and positioning gateway, anchor point management device, receive the data of its passback.It is fixed
Position server has engine of positioning, and the tool for being positioned equipment (positioning label, positioning terminal) can be calculated by return data
Body indoor location.Location-server has anchor point condition managing function, and the data that can be returned by anchor point management device are determined
The status information of position anchor point.Location-server has data-pushing function, can be by data distribution to different application；The
Five, it has data-interface API, and the data that can push fixed protocol form use for third party developer.
In another technical solution, in addition to positioning terminal, it is the mobile phone with Bluetooth function, computer or flat board electricity
Brain.It has the ability that scanning receives the positioning non-encrypted broadcast message of anchor point, and such as position anchor point broadcast is the bluetooth of standard
Ibeacon protocol datas, then the positioning terminal can be band bluetooth enabled cell phone, computer, the mobile terminal such as tablet personal computer, but not
It is only limitted to above-mentioned described content.Positioning terminal has network savvy, can by the positioning anchor point identity id information scanned and
Signal strength information uploads to given server；Function of surfing the Net can be Ethernet, wifi or other wire and wireless means.
The positioning terminal scanning receives the non-encrypted broadcast frame of multiple positioning anchor points, obtains the ID letters of corresponding positioning anchor point
The signal intensity RSSI value of breath and corresponding positioning anchor point, and the location-server is transmitted through the network to, the positioning clothes
The positional information for the device acquisition positioning terminal of being engaged in.
In another technical solution, in addition to anchor point management device, it is described fixed to receive that it communicates with multiple positioning anchor points
The status information of position anchor point, and the status information wire/wireless of the positioning anchor point of reception is transmitted to the location-server.Anchor
Point manager parameter be configurable, as long as configure its parameter with position anchor point (specifically state broadcast parameter) it is identical,
Can is communicated with positioning anchor point, and anchor point status information and configuration parameter information are forwarded into server.Anchor point management
Device can parse positioning anchor point status information, whether normal can obtain positioning anchor point work, if the status information such as low battery.
Anchor point management device can carry out parameters remote configuration to positioning anchor point, have network savvy, can pass through the nothings such as Ethernet, wifi
Positioning anchor point information in oneself state information and its coverage is sent to the server specified by line mode.Anchor point management device
With state instruction (mode such as indicator lamp, sound) function, itself work state information can be shown, is maintained easily.
In another technical solution, as shown in figure 3, also including positioning repeater, have one or more is independent to penetrate
Frequency link.It sends channel parameter and is arranged to identical with the positioning gateway channels parameter, and it is fixed that the positioning repeater is arranged at
The position unlapped interior space of gateway, the positioning repeater and the positioning label communication of the unlapped interior space are fixed to receive
Id information, signal intensity RSSI value and the positioning label self ID for multiple positioning anchor points that position label is sent, and by wireless
Mode is sent to the positioning gateway.
Positioning repeater includes following part：Power circuit, concrete function are to provide power input for whole system；Processing
Device, concrete function are the control centres of whole repeater, and transceiver logic controls；Radio frequency chip and its periphery：Repeater transmitting-receiving is logical
Road；Peripheral circuit, specifically include state instruction, switch etc..The positioning repeater can be realized with half-duplex, can also use complete double
Work is realized.
When for half-duplex when, it is only necessary to a radio frequency path is that a radio frequency chip and peripheral circuit, repeater operation exist
Reception pattern, when receiving positioning label data, processor control repeater switches to sending mode, and data are sent out
Go.
When for full duplex when, comprising two radio frequency paths, it is reception pattern that processor, which configures one of them, another for hair
Pattern is sent, when receiving terminal receives data, data are sent out via processor from transmitting terminal, and itself is still reception shape
State.
Both difference is that radio frequency needs of half-duplex repeater frequently switch between reception transmission, can not during transmission
Receive；And two radio frequency paths of full duplex are fixed on reception or transmitting terminal.Full duplex is stronger compared to semiduplex transmitting-receiving ability；
Half-duplex is lower compared to full duplex cost.
Had using the positioning repeater of the application：1. the coverage of lifting positioning gateway, solves the letter at covering edge
Number instability problem；2. solve the blind spot position covering problem in positioning gateway signal coverage, complement signal blind spot；3. compare
The solution of increase positioning gateway, reduces system cost, it is specifically included：Hardware cost, construction cost.Applied 4. reducing
Work difficulty, positioning repeater is compared to positioning gateway, it is only necessary to powers, it is not necessary to for net.
The parameter of positioning repeater is configurable, and parameter configuration is identical with positioning label, then can receive positioning label
Return data.Positioning repeater has positioning label signal receiving ability.Positioning repeater has unlimited signal emissivities,
The data for the positioning label that will can be received are sent, when sending port is configured to and positions that gateway channels parameter is identical is,
It can be positioned gateway reception.Positioning repeater has one or more independent radio frequency link, during if a link,
Then one link circuit resource of transmit-receive sharing, then need between transmission-receiving function switching (can not be sent out when receiving state, can not during hair-like state
Receive), during if two or more link circuit resource, then transmitting-receiving is settable over a different link, and transmitting-receiving, which does not conflict, (to be received and send mutually not
Influence).There is positioning repeater working condition to indicate (mode such as indicator lamp, sound) function, can show itself working condition
Information, maintain easily.As shown in figure 4, the specific embodiment 1 (half-duplex embodiment) of the repeater of the application：In embodiment 1
In, it is SX1280 that radio frequency chip, which is specifically designated, below with sx1280 functional module acute pyogenic infection of finger tip.Sx1280 releases for semtech companies
2.4G radio frequency chips, it is characterised in that there are a variety of radio-frequency modulations modes can configure, including LoRa, (G) FSK, FLRC, while simultaneous
Hold BLE physical layer.Can in bandwidth, coverage flexible option and installment.
As shown in figure 5, embodiment 2 (full duplex embodiment)：Increase sx1280 radio frequency chips all the way compared to embodiment 1, two
Road sx1280, it is dedicated as receiving all the way, another way is dedicated as sending.Remaining is consistent with description before.Workflow：Step
1：Upper electricity, positioning relay carry out initial configuration, and normal work.Step 2：Processor configures sx1280 radio frequency operations
Parameter, all the way into reception pattern, another way, which enters, waits sending mode.Step 3：The sx1280 of reception pattern, which is received, to be come from
When positioning the signal of label, processor calls another way sx1280 to be forwarded away.
Half-duplex positioning relay includes：Power supply, processor, sx1280 RF circuit modules (transmitting-receiving), and
Peripheral circuit.Specifically act on same foregoing description.Workflow：Step 1：Upper electricity, positioning relay carry out initial configuration,
And normal work.Step 2：Processor configuration sx1280 radio frequency operations parameter simultaneously, into reception state, waits data to be received.Step
Rapid 3：Sx1280 receives positioning label data, and preserves within a processor.Step 4：Processor will configure sx1280 and enter hair
Pattern is sent, and the data received are sent, return to step 2.
If Fig. 6 is in another technical solution, anchor point management device and positioning gateway are integrated into an equipment, are called tool
There is the positioning gateway of anchor point management function, now the positioning gateway includes：
Power module, it is central processing unit and periphery power supply；
Central processing unit；
Network communication module, its network interface is Ethernet interface, wifi interfaces, 4G interfaces, one in NB-IOT interfaces
Individual or multiple, the network communication module is connected with the central processing unit；
Multiple radio-frequency modules, radio-frequency module can be SX1280 chips but not limited to this, and it connects with the central processing unit
Connect.
The embodiment 3 of located in connection gateway, as shown in fig. 7, it is SX1280 chips specifically to formulate radio frequency chip circuit/module
And peripheral circuit or module, below with sx1280 functional module acute pyogenic infection of finger tip.SX1280 is the 2.4G radio frequencies that semtech companies release
Chip, it is characterised in that there are a variety of radio-frequency modulations modes can configure, including LoRa, (G) FSK, FLRC, while compatible BLE thing
Manage layer.
In the multi-functional positioning gateway, multiple SX1280 modules are included.
Sx1280 functional modules 1 are returned for location data.In positioning is applied, positioning gateway can be considered
Coverage and network capacity select suitable configuration mode, such as closely highdensity scene, can select (G) FSK tune
Mode processed.More remote higher capacity can then select FLRC modulation system, and remote low capacity can then select LoRa's
Modulation system.Multiple sx1280 functional modules can be configured simultaneously to be used to position, and realize bigger capacity.
Sx1280 functional modules 2 are accessed for sensor node, consider that sensor node data amount is small, covering is scattered,
Sx1280 can be configured under LoRa mode of operation.As SF12 can realize the covering of maximum distance.
Sx1280 functional modules 3 are used for anchor point management, because anchor point status information is sent infrequently, and anchor point disperses
It is relatively wide, configured under LoRa modulation system, realize the covering of maximum distance.
The system installation procedure is as follows：
Step 1：Positioning anchor point is laid according to certain density in the region for needing to be positioned, positions the periodicity of anchor point
Broadcast singal covers the region.Each positioning anchor point has unique identity ID and deployed position, and these information are recorded and deposited
It is put into server.
Step 2：A number of positioning gateway is arranged in the region for needing to be positioned, positions the signal cover of gateway
It is whole or most regions for needing to be positioned.Gateway accessing network is positioned, by wired or wirelessly.
Step 3：A number of anchor point management device, the signal covering of anchor point management device are laid in the region for needing to be positioned
Scope is the region for entirely needing to be positioned.If positioning gateway has anchor point management function concurrently, the step is omitted
Step 4：If Bluetooth gateway signal in step 2 needs to be lifted covered with dead angle area, or coverage,
Some positioning repeaters are then installed in signal transmission path figure.
Step 5：Location-server, server and anchor point management device are installed, positioning gateway can realize network interworking.
The system supports positioning terminal positioning, is specifically the mobile terminal only with positioning anchor point signal reception, such as
The mobile terminals such as the mobile phone with bluetooth 4.0 and the function of compatible bluetooth 4.0, computer, tablet personal computer.This is positioned exemplified by sentencing bluetooth
Method of locating terminal is as follows：
Step 1：Positioning anchor point is laid according to certain density to be positioned in space, and it is properly configured, and is had unique
Identity ID, periodically as sending broadcast singal in surrounding environment, it is herein assumed that positioning terminal carries Bluetooth function, then broadcasts
Non-encrypted Bluetooth broadcast frame is at least included in information.
Step 2：Positioning terminal receives and the Bluetooth broadcast frame that anchor point is sent is positioned around it, and obtain in space is positioned
The signal intensity of the frame is obtained, by anchor point ID and signal strength values, and the facility information of itself is sent to positioning clothes by network
Business device.It is accurately positioned to realize, then at least needs to receive the information of 3 positioning anchor points simultaneously.
Step 3：Location-server receives the information data from positioning terminal, and positioning is calculated eventually by signal strength values
The distance between each anchor point value is held, by inquiring about the positioning anchor point position information preserved in server, passes through location algorithm
(positioning of such as three sides) obtains positioning terminal actual position information indoors, and actual position information is distributed to specify should
Application developer is distributed to program or by data-interface.
The system supports positioning tag location, and positioning label enough receives positioning anchor point broadcast message, and is forwarded to positioning net
Close or positioning relays.Its specific method is as follows：
Step 1：Positioning anchor point is laid according to certain density to be positioned in space, and it is properly configured, and is had unique
Identity ID, can be coded signal either non-encrypted signal or two periodically as sending broadcast singal in surrounding environment
Person coexists.
Step 2：Label is positioned in space is positioned, it is properly configured, and (unique identities id information, the mode of reception should
It is consistent with the signalling formula of anchor point, it is all that encryption is non-encrypted, and its signalling formula should such as identical wireless parameter
It is consistent with positioning gateway or positioning repeater, such as identical channel parameter), the positioning anchor point broadcast frame around it is received,
And obtain signal strength values.Precise positioning needs at least to obtain the identity information and signal strength values of three positioning anchor points.
The positioning label will position anchor point ID and its signal strength values and positioning label self ID by being wirelessly transmitted to positioning gateway,
Positioning gateway can be sent to by positioning repeater.
Step 3：Positioning gateway receives the data of positioning label, and forwards it to location-server.
Step 4：Location-server receives the information for carrying out self-positioning gateway, and calculating positioning label by signal strength values arrives
The distance between each positioning anchor point value, by inquiring about the positioning anchor point position information preserved in server, passes through location algorithm
(positioning of such as three sides) obtains positioning label actual position information indoors, and actual position information is distributed to specify should
Application developer is distributed to program or by data-interface.
The system supports the remote management capability of positioning anchor point.It is whole whether the working condition of positioning anchor point normally directly affects
The stability of individual alignment system work, within the system, each positioning anchor point can be with anchor point management device or with anchor point pipe
The positioning gateway for managing function carries out information exchange.Its specific workflow is as follows：
Step 1：After positioning anchor point is properly configured, periodically oneself state information is sent out by the forms of broadcasting.
Step 2：Anchor point management device or positioning gateway with anchor point management function receive positioning anchor point status information
Afterwards, location-server is forwarded it to.
Step 3：Location-server obtains the working condition of the anchor point, such as according to more by positioning the broadcast message of anchor point
The new time determines whether positioning anchor point is offline, and determining positioning anchor point according to information about power, whether electricity is normal, passes through status information
Determine whether anchor point is working properly.Push information to manager simultaneously.
Embodiment 4, as shown in figure 8, room 1 and room 2 are the regions for needing to be positioned, position gateway and anchor point management device
It is laid in room 3.
Positioning label 1 is a kind of in room, and it scans and receives the broadcast message of positioning anchor point 1,2,3,4, and obtains it
Identity ID and corresponding signal strength values.Then self ID value and the anchor point relevant information received are together sent.By
In it not in the coverage of positioning gateway, positioning gateway can not receive the information of positioning label, therefore need in the He of room 1
One positioning repeater of placement among room 2, it is to receive the information that positioning label is sent that it, which is acted on, and is forwarded to positioning gateway.
The status information of all positioning anchor point broadcast can be received (the status information transmission frequency of positioning anchor point by anchor point management device
It is low, therefore the transmission of its own status information can be set to use low bandwidth, remote pattern).
The structure that the application positions label includes：
At least one radio-frequency module, it supports a variety of rf-modes, wherein including at least one low-power consumption narrow band transmission mould
Formula；
Micro controller module, it is connected with the radio-frequency module；
Accelerometer module, it monitors itself and is in motion or inactive state；The accelerometer module and microcontroller
Device module connects.
In another technical solution, in addition to：
Electricity monitoring module, it monitors the dump energy situation of itself；The electricity monitoring module and micro controller module
Connection.
In another technical solution,
After label connection power supply to be positioned, the electricity monitoring situation that micro controller module monitors the electricity monitoring module is
No normal, whether micro controller module is connected normal with radio-frequency module, and monitors the micro controller module and accelerometer
Whether module connection is normal；
If the electricity monitoring situation of electricity monitoring module is normal, micro controller module is connected normally with radio-frequency module, and
Micro controller module is connected normally with accelerometer module, then micro controller module enters configuration mode；Otherwise wrong mould is entered
Formula；
When micro controller module enters configuration mode, outside progress parameter configuration is waited；
External parameter configuration successful is treated, or is not configured yet after waiting the scheduled time, then micro controller module enters work
Pattern；If configuration failure, into error pattern；
Wherein, after micro controller module enters error pattern, micro controller module is gone out by radio-frequency module periodic report
Wrong information；
After micro controller module enters mode of operation, if accelerometer module monitors are in static shape to its own
State, then the dump energy data that micro controller module is gathered by radio-frequency module cycle collection electricity monitoring module；If accelerate
Degree meter module monitors are kept in motion to its own, then micro controller module gathers positioning node by the radio-frequency module cycle and sent out
The broadcast singal that send simultaneously measures the signal intensity of broadcast singal；And micro controller module will be marked belonging to the broadcast singal collected
The general unique mark of label and the signal intensity of the measurement signal are stored in micro controller module.
In another technical solution, if accelerometer module monitors are kept in motion to its own, microcontroller
Device module gathers the broadcast singal of positioning node transmission by the radio-frequency module cycle and measures its signal intensity；Wherein, collection frequency
Rate is determined by the parameter configured in configuration mode.
In another technical solution, in addition to：
Indicator lamp, it is connected with the micro controller module；
In another technical solution, after positioning label enters error pattern, micro controller module passes through radio-frequency module
Periodic report error message, and control indicator lamp stroboscopic.
In another technical solution, in addition to：Gyro module, it is connected with the micro controller module；
If accelerometer module monitors are kept in motion to itself, micro controller module is added by radio-frequency module collection
The sensing data of speedometer module and gyro module, and data are handled by filtering algorithm, calculate positioning
The estimation displacement of node, and be stored in micro controller module.
In another technical solution, in mode of operation, micro controller module gathers electricity by the radio-frequency module cycle
The dump energy data of monitoring module collection；
Then micro controller module uniquely marks the dump energy data collected, the general of the affiliated label of broadcast singal
The estimation displacement storage of knowledge, the signal intensity of the measurement signal and positioning node is in the microprocessor；Then pack, by low
Power consumption narrow band mode is sent to corresponding RF transceiver, that is, reports working condition；
After micro controller module reports working condition by radio-frequency module, the micro controller module of a period of time is opened
Communications reception function, if receiving positioning label configuration order or positioning label firmware within the time of open communication receive capabilities
More newer command, then config update corresponding to progress or firmware renewal operation.
In another technical solution, micro controller module by radio-frequency module receive or send communication data packet when,
Using encrypted transmission.
The application positions one embodiment of label, a kind of multimode positioning label of low-power consumption, and the positioning label is simply determined
The nucleus module of position equipment, its surface structure can have a variety of patterns, such as bracelet form, wrist-watch form, label form, card-shape
Formula etc.,
It is specifically included：
At least one radio-frequency module, it supports a variety of rf-modes, wherein including at least one low-power consumption narrow band transmission mould
Formula；The radio-frequency module can receive and dispatch packet such as bluetooth, wifi, zigbee, LoRa etc. of two or more radiofrequency signal,
And a low-power consumption narrow band communication pattern is wherein at least included, such as LoRa, Nb-IoT and eMTC etc., at least one radio-frequency module can
By it is multiple can only receive and dispatch a kind of radio-frequency module of radiofrequency signal and combine form, a variety of radiofrequency signals can also can be received and dispatched by one kind
Radio-frequency module form.
Micro controller module, it is connected with the radio-frequency module；Micro controller module can be a single microprocessor
The microprocessor module included in device or multi-mode radio frequency module.
Electricity monitoring module, it monitors the dump energy situation of itself；The electricity monitoring module and micro controller module
Connection；
Accelerometer module, it monitors itself and is in motion or inactive state；The accelerometer module and microcontroller
Device module connects；
Gyro module, it is connected with the micro controller module；
Its workflow is：
After label connection power supply to be positioned, the electricity monitoring situation that micro controller module monitors the electricity monitoring module is
It is no normal, and monitor the micro controller module be connected with accelerometer module it is whether normal；
If the electricity monitoring situation of electricity monitoring module is normal, and micro controller module is connected just with accelerometer module
Often, then micro controller module enters configuration mode；Otherwise error pattern is entered；
When micro controller module enters configuration mode, outside progress parameter configuration is waited；
External parameter configuration successful is treated, or is not configured yet after waiting the scheduled time, then micro controller module enters work
Pattern；If configuration failure, into error pattern；
Wherein, after micro controller module enters error pattern, micro controller module is gone out by radio-frequency module periodic report
Wrong information；
After micro controller module enters mode of operation, if accelerometer module monitors are in static shape to its own
State, that is, whole positioning label remain static, because each module in positioning label belongs to overall, then microcontroller
Module gathers the dump energy data of electricity monitoring module collection, microprocessor control multi-mode radio frequency mould by the radio-frequency module cycle
When block is sent using different radio frequency pattern or received data, it may be selected to the data of transmission are encrypted；If acceleration
Meter module monitors are kept in motion to its own, then micro controller module gathers positioning node by the radio-frequency module cycle and sent
Broadcast singal and measure the signal intensity of broadcast singal, wherein, frequency acquisition is determined by the parameter configured in configuration mode；And
And micro controller module is by the general unique mark of the affiliated label of the broadcast singal collected and the signal intensity of the measurement signal
It is stored in micro controller module.
If accelerometer module monitors are kept in motion to itself, micro controller module is added by radio-frequency module collection
The sensing data of speedometer module and gyro module, and data are handled by filtering algorithm, calculate positioning
The estimation displacement of node, and be stored in micro controller module.
And in mode of operation, micro controller module gathers the surplus of electricity monitoring module collection by the radio-frequency module cycle
Remaining electric quantity data；
Then micro controller module uniquely marks the dump energy data collected, the general of the affiliated label of broadcast singal
The estimation displacement storage of knowledge, the signal intensity of the measurement signal and positioning node is in the microprocessor；Then pack, by low
Power consumption narrow band mode is sent to corresponding RF transceiver, that is, reports working condition；
After positioning label reports working condition, the positioning label communication receive capabilities of a period of time are opened, if opening
Positioning label configuration order or positioning label firmware more newer command are received in the time of unblank letter receive capabilities, then is carried out correspondingly
Config update or firmware renewal operation.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (8)
- A kind of 1. indoor locating system, it is characterised in that including：Multiple positioning anchor points, it is fixed on the interior space, and the positioning anchor point is periodically sent out by encryption/non-encrypted broadcast frame Send self-ID information；Label is positioned, it is arranged in target to be positioned, and the positioning tag scan receives the id information of multiple positioning anchor points And the signal intensity RSSI value of corresponding positioning anchor point, and wirelessly send；Position gateway, its receive the id information of multiple positioning anchor points for wirelessly sending of positioning label, signal intensity RSSI value and Label self ID is positioned, and is sent by wire/wireless mode；Location-server, it is stored with the ID of multiple positioning anchor points and corresponding positional information, the location-server receive Id information, signal intensity RSSI value and the positioning label self ID for multiple positioning anchor points that the positioning gateway is sent, and lead to The positional information of the corresponding positioning anchor point of id information inquiry of the positioning anchor point received is crossed, passes through the signal intensity RSSI received Value calculates the distance value between positioning label and each positioning anchor point, obtains the position of positioning label indoors by location algorithm afterwards Confidence ceases.
- 2. indoor locating system as claimed in claim 1, it is characterised in that also including positioning terminal, it is with bluetooth work( Mobile phone, computer or the tablet personal computer of energy；Positioning terminal scanning receives the non-encrypted broadcast frame of multiple positioning anchor points, obtain the id information of corresponding positioning anchor point with And the signal intensity RSSI value of corresponding positioning anchor point, and the location-server is transmitted through the network to, the location-server Obtain the positional information of the positioning terminal.
- 3. indoor locating system as claimed in claim 1, it is characterised in that also including anchor point management device, itself and multiple positioning Anchor point communication is passed the status information wire/wireless of the positioning anchor point of reception with receiving the status information of the positioning anchor point Transport to the location-server.
- 4. indoor locating system as claimed in claim 1, it is characterised in that also include positioning repeater, it sends channel ginseng Number is arranged to identical with the positioning gateway channels parameter, and the positioning repeater is arranged at the positioning unlapped Interior Space of gateway Between, the positioning label communication of positioning repeater and the unlapped interior space is to receive the multiple positioning for positioning label and sending Id information, signal intensity RSSI value and the positioning label self ID of anchor point, and wirelessly it is sent to the positioning net Close.
- 5. indoor locating system as claimed in claim 4, it is characterised in that the positioning repeater has one or more only Vertical radio frequency link.
- 6. indoor locating system as claimed in claim 1, it is characterised in that the positioning gateway includes：Power module, it is central processing unit and remaining module for power supply；Central processing unit；Network communication module, its network interface are Ethernet interface, wifi interfaces, 4G interfaces, one in NB-IOT interfaces or Multiple, the network communication module is connected with the central processing unit；Multiple radio-frequency modules, it is connected with the central processing unit.
- 7. indoor locating system as claimed in claim 6, it is characterised in that the radio-frequency module is SX1280 chips.
- 8. indoor locating system as claimed in claim 4, it is characterised in that the positioning repeater includes second source mould Block, second processor, radio frequency chip and peripheral circuit.
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|---|---|---|---|
| CN201710744017.1A CN107643508A (en) | 2017-08-25 | 2017-08-25 | Indoor locating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744017.1A CN107643508A (en) | 2017-08-25 | 2017-08-25 | Indoor locating system |
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| CN107643508A true CN107643508A (en) | 2018-01-30 |
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| CN201710744017.1A Pending CN107643508A (en) | 2017-08-25 | 2017-08-25 | Indoor locating system |
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| CN107948296A (en) * | 2017-11-30 | 2018-04-20 | 中电科卫星导航运营服务有限公司 | A kind of indoor locating system and method based on bluetooth |
| CN108599806A (en) * | 2018-04-24 | 2018-09-28 | 北京升哲科技有限公司 | Full duplex Internet of Things base station based on half-duplex baseband chip |
| CN108924190A (en) * | 2018-06-12 | 2018-11-30 | 苏州寻路通途智能科技有限公司 | One kind being based on Bluetooth Low Energy hybrid location system |
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| CN109827561A (en) * | 2018-08-03 | 2019-05-31 | 上海诣星智能科技有限公司 | A kind of indoor locating system |
| CN110012433A (en) * | 2019-04-16 | 2019-07-12 | 上海美迪索科电子科技有限公司 | A kind of indoor orientation method, system, server and computer readable storage medium |
| CN110412507A (en) * | 2019-08-01 | 2019-11-05 | 常熟瑞特电气股份有限公司 | Indoor locating system based on UWB |
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| CN108966369A (en) * | 2018-07-19 | 2018-12-07 | 广州泽祺信息科技有限公司 | A kind of home for destitute personnel positioning monitor system and its method |
| CN108966369B (en) * | 2018-07-19 | 2021-08-17 | 广州华创物联科技股份有限公司 | System and method for positioning and monitoring personnel in nursing home |
| CN109827561A (en) * | 2018-08-03 | 2019-05-31 | 上海诣星智能科技有限公司 | A kind of indoor locating system |
| CN109163725A (en) * | 2018-09-13 | 2019-01-08 | 上海船舶工艺研究所 | A kind of ship cabin indoor locating system and localization method |
| CN111200785A (en) * | 2018-11-19 | 2020-05-26 | 中兴通讯股份有限公司 | Indoor positioning method, system, device and computer readable storage medium |
| CN110012433A (en) * | 2019-04-16 | 2019-07-12 | 上海美迪索科电子科技有限公司 | A kind of indoor orientation method, system, server and computer readable storage medium |
| CN110460951A (en) * | 2019-07-05 | 2019-11-15 | 锐捷网络股份有限公司 | Localization method and device based on Internet of Things |
| CN110428029A (en) * | 2019-07-23 | 2019-11-08 | 上海牛庄网络科技有限公司 | Electronic location method, system and medical device positioning system |
| CN110430531A (en) * | 2019-08-01 | 2019-11-08 | 常熟瑞特电气股份有限公司 | Indoor bluetooth localization method and system based on base station |
| CN110412507A (en) * | 2019-08-01 | 2019-11-05 | 常熟瑞特电气股份有限公司 | Indoor locating system based on UWB |
| CN110716175A (en) * | 2019-10-30 | 2020-01-21 | 四川长虹电器股份有限公司 | Low-power-consumption indoor and outdoor positioning method and system based on NB-IOT communication |
| CN111083693A (en) * | 2019-12-12 | 2020-04-28 | 泰斗微电子科技有限公司 | Positioning data processing method, positioning terminal and positioning server |
| CN111901754A (en) * | 2020-07-09 | 2020-11-06 | 广州启盟信息科技有限公司 | Position sensing card based on narrowband Internet of things, sensing method and system thereof |
| CN111918307A (en) * | 2020-07-31 | 2020-11-10 | 重庆邮电大学 | Multilayer gateway data transmission system and method based on LoRa positioning |
| CN112601178B (en) * | 2020-12-14 | 2023-06-27 | 招商局金融科技有限公司 | Edge gateway positioning method and device, electronic equipment and storage medium |
| CN112601178A (en) * | 2020-12-14 | 2021-04-02 | 招商局金融科技有限公司 | Edge gateway positioning method and device, electronic equipment and storage medium |
| CN112822640A (en) * | 2021-01-04 | 2021-05-18 | 广联达科技股份有限公司 | Target object position acquisition system |
| CN112822640B (en) * | 2021-01-04 | 2023-02-24 | 广联达科技股份有限公司 | Target object position acquisition system |
| CN114189932A (en) * | 2021-11-15 | 2022-03-15 | 国能大渡河猴子岩发电有限公司 | Construction real-time monitoring management system without GPS signal |
| CN114117596A (en) * | 2021-11-15 | 2022-03-01 | 国能大渡河猴子岩发电有限公司 | Real-time monitoring and management method for water conservancy and hydropower engineering |
| CN114189932B (en) * | 2021-11-15 | 2024-01-16 | 国能大渡河猴子岩发电有限公司 | Real-time monitoring management system for construction without GPS signal |
| CN115171235A (en) * | 2022-06-28 | 2022-10-11 | 广州土圭垚信息科技有限公司 | Comprehensive inspection method and inspection system for Bluetooth beacon |
| CN115835127A (en) * | 2022-11-24 | 2023-03-21 | 东土科技(宜昌)有限公司 | Method and device for positioning target in chemical plant, computer equipment and storage medium |
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