CN108173736B - Interactive system and method based on indoor positioning - Google Patents

Interactive system and method based on indoor positioning Download PDF

Info

Publication number
CN108173736B
CN108173736B CN201611113477.6A CN201611113477A CN108173736B CN 108173736 B CN108173736 B CN 108173736B CN 201611113477 A CN201611113477 A CN 201611113477A CN 108173736 B CN108173736 B CN 108173736B
Authority
CN
China
Prior art keywords
indoor
intelligent terminal
positioning
ultrasonic signal
signal transmitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611113477.6A
Other languages
Chinese (zh)
Other versions
CN108173736A (en
Inventor
刘广松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Touchair Technology Co ltd
Original Assignee
Suzhou Touchair Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Touchair Technology Co ltd filed Critical Suzhou Touchair Technology Co ltd
Priority to CN201611113477.6A priority Critical patent/CN108173736B/en
Publication of CN108173736A publication Critical patent/CN108173736A/en
Application granted granted Critical
Publication of CN108173736B publication Critical patent/CN108173736B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/21—Monitoring or handling of messages
    • H04L51/222—Monitoring or handling of messages using geographical location information, e.g. messages transmitted or received in proximity of a certain spot or area
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/52—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail for supporting social networking services
    • 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

Abstract

The invention provides an interactive system and method based on indoor positioning. The system comprises at least two indoor positioning subsystems, a cloud server and a plurality of indoor positioning subsystems, wherein the at least two indoor positioning subsystems are respectively used for executing indoor positioning on intelligent terminals in respective indoor ranges, and the intelligent terminals in the respective indoor ranges of the indoor positioning subsystems respectively provide indoor coordinates determined based on the indoor positioning to the cloud server; and the cloud server is used for providing an electronic map, the electronic map comprises the position identifications of the at least two indoor positioning subsystems, and when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification are sent.

Description

Interactive system and method based on indoor positioning
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to an interactive system and method based on indoor positioning.
Background
With the rapid development of mobile network technology and the increasing popularization of intelligent terminals, social services based on geographic locations are more and more concerned by people. Currently, many network companies have introduced social services based on geographic location. Compared with the traditional internet social mode, the location-based social service has a more accurate social service function and a stronger user attraction effect, and is a hotspot in the industry at present.
The advantages and characteristics of the traditional mobile social integrated mobile network, the mobile phone terminal and the social network service are mutually beneficial and supplementary. The reliability of user information becomes the basis of social networks. The social network is different from other online communities, online friends making and the like in that the social network is basically an interpersonal network established based on the real information of a client and is closer to a real-name system.
In daily life, people's life, work and study are basically indoor, but the application range based on the specific positions of people and objects is not wide, but indoor navigation and positioning currently adopt methods such as wifi, bluetooth (bluetooth), geomagnetic field and the like, but the precision is meter level, and the influence of indoor environment is very large. Since the accuracy of indoor positioning is very limited, social applications based on specific positions of people and objects are difficult to be put into practical use
Disclosure of Invention
In view of this, the embodiments of the present invention provide an interactive system and method based on indoor positioning.
The technical scheme of the embodiment of the invention is as follows:
an indoor positioning-based interaction system, comprising:
the system comprises at least two indoor positioning subsystems, a cloud server and a plurality of indoor positioning subsystems, wherein the at least two indoor positioning subsystems are respectively used for executing indoor positioning on intelligent terminals in respective indoor ranges, and the intelligent terminals in the respective indoor ranges of the indoor positioning subsystems respectively provide indoor coordinates determined based on the indoor positioning to the cloud server;
and the cloud server is used for providing an electronic map, the electronic map comprises the position identifications of the at least two indoor positioning subsystems, and when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification are sent.
In one embodiment, an indoor positioning subsystem comprises: the ultrasonic positioning system comprises at least three ultrasonic signal transmitting units, a positioning unit and a positioning unit, wherein the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the intelligent terminal is located in an indoor range of the indoor positioning subsystem and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the intelligent terminal and attribute information of the intelligent terminal to the cloud server.
In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal is time-synchronized with the ultrasonic signal transmitting units;
the intelligent terminal is used for calculating indoor coordinates (x, y, z) of the intelligent terminal based on the following formula:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2＝d3；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit;
or
The number of the ultrasonic signal transmitting units is four, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal is used for calculating indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+r0＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+r0＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+r0＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; (x)4、y4、z4) Coordinates of a fourth ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit.
In one embodiment, the attribute information of the intelligent terminal comprises electronic business card information of a user of the intelligent terminal or exhibit information of the intelligent terminal; the interactive system further comprises:
the interactive terminal is used for receiving the electronic map from the cloud server, triggering the position identification of the indoor positioning subsystem in the electronic map, and receiving the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinate and attribute information of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification; establishing a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on the indoor map;
wherein: the interactive terminal is positioned in an indoor positioning subsystem where the intelligent terminal is positioned; or, the interactive terminal is not located in the respective indoor range of the at least two indoor positioning subsystems; or the interactive terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned.
In one embodiment, further comprising:
the sharing terminal is used for receiving the electronic map from the cloud server and receiving the indoor map of the indoor positioning subsystem where the intelligent terminal is located, the indoor coordinates of the intelligent terminal and the attribute information of the intelligent terminal from the interaction terminal; establishing a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on the indoor map;
the sharing terminal is located in an indoor positioning subsystem where the intelligent terminal is located; or the sharing terminal is not positioned in the respective indoor ranges of the at least two indoor positioning subsystems; or the sharing terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned; or the sharing terminal is located in the respective indoor ranges of the at least two indoor positioning subsystems and is not located in the indoor positioning subsystem where the sharing terminal is located.
An interaction method based on indoor positioning, the method comprising:
the indoor positioning method comprises the following steps that at least two indoor positioning subsystems respectively carry out indoor positioning on intelligent terminals in respective indoor ranges, wherein the intelligent terminals in the respective indoor ranges of the indoor positioning subsystems respectively provide indoor coordinates determined based on the indoor positioning to a cloud server;
the cloud server provides an electronic map, and the electronic map comprises position identifications of the at least two indoor positioning subsystems;
when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the cloud server sends an indoor map of the indoor positioning subsystem corresponding to the triggered position identification and indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification.
In one embodiment, an indoor positioning subsystem comprises: the ultrasonic positioning system comprises at least three ultrasonic signal transmitting units, a positioning unit and a positioning unit, wherein the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the intelligent terminal located in the indoor range of the indoor positioning subsystem receives the ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, determines indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, and sends the indoor coordinates of the intelligent terminal and attribute information of the intelligent terminal to the cloud server.
In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal is time-synchronized with the ultrasonic signal transmitting units;
the intelligent terminal calculates the indoor coordinates (x, y, z) of the intelligent terminal based on the following formula:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2＝d3；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit;
or
The number of the ultrasonic signal transmitting units is four, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal calculates indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+r0＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+r0＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+r0＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; (x)4、y4、z4) Coordinates of a fourth ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r is0The distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit is avoided.
In one embodiment, the attribute information of the intelligent terminal is user electronic business card information of the intelligent terminal or exhibit information of the intelligent terminal;
the method further comprises the following steps:
the interactive terminal receives an electronic map, triggers a position identifier of an indoor positioning subsystem in the electronic map, and receives the indoor map of the indoor positioning subsystem corresponding to the triggered position identifier and indoor coordinates and attribute information of an intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identifier;
the interactive terminal establishes a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, and sends social information to the intelligent terminal based on the wireless communication link;
the interactive terminal calculates an indoor meeting path of the intelligent terminal based on the indoor coordinates of the intelligent terminal and displays the indoor meeting path on the indoor map;
the interactive terminal is positioned in an indoor positioning subsystem where the intelligent terminal is positioned; or, the interactive terminal is not located in the respective indoor range of the at least two indoor positioning subsystems; or the interactive terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned.
In one embodiment, further comprising:
the method comprises the steps that a sharing terminal obtains an electronic map from a cloud server and receives indoor coordinates of an intelligent terminal and attribute information of the intelligent terminal from an interaction terminal;
the sharing terminal establishes a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sends social information to the intelligent terminal based on the wireless communication link, calculates an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displays the indoor meeting path on the indoor map;
the sharing terminal is located in an indoor positioning subsystem where the intelligent terminal is located; or the sharing terminal is not positioned in the respective indoor ranges of the at least two indoor positioning subsystems; or the sharing terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned; or the sharing terminal is located in the respective indoor ranges of the at least two indoor positioning subsystems and is not located in the indoor positioning subsystem where the sharing terminal is located.
In one embodiment, the method further comprises in advance: establishing a cloud database containing an online map; matching a plurality of indoor maps expressed in relative coordinates to an online map expressed in global satellite positioning coordinates;
the method further comprises the following steps:
converting global satellite positioning coordinates in an online map to relative coordinates in any indoor map or switching between relative coordinates in a plurality of indoor maps, wherein: switching between relative coordinates in the plurality of indoor maps includes at least one of:
selecting a corresponding positioning device based on the only received main transmitting unit positioning signal;
based on the received positioning signals of the plurality of main transmitting units, selecting the main transmitting unit with the maximum signal intensity, and selecting the positioning device when receiving at least three positioning signals sent by the positioning device corresponding to the main transmitting unit;
waiting when the number of the received positioning signals sent by each positioning device is less than three;
when the number of the received positioning signals sent by the positioning devices is less than three, and the number of the received positioning signals sent by the positioning devices is at least three, the positioning device which sends at least three positioning signals is selected, wherein the at least three positioning signals comprise the positioning signals sent by the main transmitting unit.
According to the technical scheme, the networking method based on the plurality of indoor positioning subsystems can connect all indoor positioning subsystems of a city or even the whole world with the cloud through the mobile intelligent terminal, so that the mobile intelligent terminals in two positioning subsystems which are far away from each other generate accurate position-based social contact. The positioning device in the indoor positioning subsystem does not need to be connected with the Internet, and is convenient and quick to install and low in hardware cost. In addition, the indoor accurate positioning system is applied to environmental social contact, the social network is constructed based on the accurate position service, the indoor positioning system is utilized to effectively obtain and utilize the accurate position information of the intelligent terminal, the communication between people and objects in a certain measurable range is realized, and a convenient social contact mode based on the geographic position is provided for users. In addition, the embodiment of the invention also provides a positioning method without clock synchronization, thereby improving the use convenience. In addition, the embodiment of the invention can map the indoor coordinates onto the indoor map, thereby facilitating the user to execute convenient interaction.
Drawings
Fig. 1 is a block diagram of an interactive system based on indoor positioning according to the present invention;
fig. 2 is a schematic diagram of an indoor positioning algorithm according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of inter-city social interaction according to the present invention.
Fig. 4 is a diagram of a structure for online participation in a displaced exhibition according to the present invention.
Fig. 5 is a schematic structural diagram of ultrasonic ranging according to an embodiment of the present invention.
Fig. 6 is a flowchart of a networking method based on a plurality of indoor accurate positioning systems according to the present invention.
Fig. 7 is a schematic diagram of social networking of a smart terminal according to a first embodiment of the present invention.
Fig. 8 is a schematic diagram of social networking of a smart terminal according to a second embodiment of the present invention.
Fig. 9 is a schematic diagram of social networking of a smart terminal according to a third embodiment of the present invention.
FIG. 10 is a schematic diagram of coordinate switching between different positioning devices according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings.
For simplicity and clarity of description, the invention will be described below by describing several representative embodiments. Numerous details of the embodiments are set forth to provide an understanding of the principles of the invention. It will be apparent, however, that the invention may be practiced without these specific details. Some embodiments are not described in detail, but rather are merely provided as frameworks, in order to avoid unnecessarily obscuring aspects of the invention. Hereinafter, "including" means "including but not limited to", "according to … …" means "at least according to … …, but not limited to … … only". In view of the language convention of chinese, the following description, when it does not specifically state the number of a component, means that the component may be one or more, or may be understood as at least one.
This application is based on indoor accurate positioning system's networking method, and positioning accuracy can reach centimetre level, and the indoor accurate positioning system that this application provided can combine with navigation such as GPS, can realize GPS's last kilometer, the accurate position location of indoor people and thing promptly.
In the invention, a plurality of sets of indoor accurate positioning systems are combined into a positioning network by taking an intelligent terminal and a cloud end as centers. By the networking method, the application based on the accurate geographic position between the intelligent terminals in a large range is realized. The outdoor intelligent terminal can realize the positioning and navigation functions in a large range based on the positioning technologies, and further realize simple communication based on the geographic position. Moreover, all indoor positioning systems of a city or even the whole world can be connected with the cloud end through the intelligent terminal, so that the intelligent terminals in two positioning systems which are far away from each other can generate social contact based on accurate positions. The navigation and positioning of indoor people and objects can be realized, and the method can be widely applied to social occasions.
The invention provides a networking method of a plurality of indoor accurate positioning systems, which is used for networking a plurality of sets of indoor accurate positioning systems and realizing the application based on the geographical position among intelligent terminals in a large range. In addition, the invention carries out networking on a plurality of indoor precise positioning systems, thereby carrying out combined distribution on a plurality of indoor positioning subsystems and forming a radial positioning network taking the cloud as the center in space. The positioning systems in the positioning network are independent of each other and may not communicate information. In a positioning network with a cloud as a center, a positioning system positions an intelligent terminal, and the intelligent terminal shares own position information with other intelligent terminals through the cloud.
Fig. 1 is a block diagram of an interactive system based on indoor positioning according to the present invention.
As shown in fig. 1, the interactive system includes:
the system comprises a plurality of (at least two) indoor positioning subsystems, a cloud server and a plurality of cloud computing subsystems, wherein the plurality of (at least two) indoor positioning subsystems are respectively used for executing indoor positioning on intelligent terminals in respective indoor ranges, and the intelligent terminals in the respective indoor ranges of each indoor positioning subsystem respectively provide indoor coordinates determined based on the indoor positioning to the cloud server;
and the cloud server is used for providing an electronic map, the electronic map comprises the position identifications of the at least two indoor positioning subsystems, and when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification are sent.
In fig. 1, positioning subsystem 1 is located in room 1, positioning subsystem 2 is located in room 2 … positioning subsystem n is located in room n, wherein each positioning subsystem may be located in the same city, or may be located in different cities, respectively, or even each positioning subsystem may be located in different countries.
The positioning subsystem 1 can perform positioning on each intelligent terminal in the room 1, and each intelligent terminal in the positioning subsystem 1 provides indoor coordinates determined based on the indoor positioning to the cloud server respectively. Similarly, the positioning subsystem 2 may perform positioning on each of the intelligent terminals in the room 2, each of the intelligent terminals in the positioning subsystem 2 provides, to the cloud server, room coordinates … determined based on the room positioning respectively, and the positioning subsystem n may perform positioning on each of the intelligent terminals in the room n, and each of the intelligent terminals in the positioning subsystem 1 provides, to the cloud server, room coordinates determined based on the room positioning respectively.
In one embodiment, each indoor positioning subsystem comprises: the ultrasonic positioning system comprises at least three ultrasonic signal transmitting units, a positioning unit and a positioning unit, wherein the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the intelligent terminal is located in the indoor range of each indoor positioning subsystem and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the intelligent terminal and attribute information of the intelligent terminal to the cloud server.
FIG. 2 is a schematic diagram of a positioning algorithm according to an embodiment of the present invention. Here, taking any one of the intelligent terminals as an example, a positioning process between the intelligent terminal and the ultrasonic signal transmitting unit is described. In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are time-synchronized; the intelligent terminal is used for calculating indoor coordinates (x, y, z) of the intelligent terminal based on the following formula:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2＝d3；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit.
Here, the ultrasonic locating signal transmitted by each ultrasonic signal transmitting unit includes its own identifier and the local transmission time of the ultrasonic signal transmitting unit. The intelligent terminal calculates the distance between the intelligent terminal and the ultrasonic signal transmitting unit based on the receiving time of the ultrasonic positioning signal locally received by the intelligent terminal and the sending time contained in the ultrasonic positioning signal.
For example, the ultrasonic locating signal emitted by the ultrasonic signal emitting unit a includes the identifier (i.e., a) of the ultrasonic signal emitting unit a and the local transmission time t1 of the ultrasonic signal emitting unit a. The receiving time when the intelligent terminal locally receives the ultrasonic positioning signal is t 2. Therefore, the intelligent terminal calculates the distance d from the ultrasonic signal transmitting unit a, and d is C (t2-t1), where C is the speed of the ultrasonic wave. It can be seen that in this embodiment, time synchronization between the ultrasonic signal transmitting units and time synchronization of the intelligent terminal and the ultrasonic signal transmitting units are required, but the calculation process is simple.
In one embodiment, the number of the ultrasonic signal transmitting units is four, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are not time-synchronized;
the intelligent terminal is used for calculating indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+r0＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+r0＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+r0＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x1, y1, z1) is the coordinates of the first ultrasonic-wave signal-emitting unit in the room; (x2, y2, z2) is the coordinates of the second ultrasonic-wave signal-emitting unit in the room; (x3, y3, z3) is the coordinates of the third ultrasonic-wave signal-emitting unit in the room; (x4, y4, z4) is coordinates of the fourth ultrasonic-wave signal-emitting unit in the room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit.
Here, the ultrasonic locating signal transmitted by each ultrasonic signal transmitting unit includes its own identifier and transmission time. The intelligent terminal calculates the distance to the ultrasonic signal transmitting unit based on the receiving time and the sending time.
It can be seen that in this embodiment, time synchronization between the ultrasonic signal transmitting units is required and the intelligent terminal can be time-synchronized with the ultrasonic signal transmitting units, so that the application situation is more extensive.
In one embodiment, the attribute information of the intelligent terminal comprises electronic business card information of a user of the intelligent terminal or exhibit information of the intelligent terminal; the interactive system further comprises: the interactive terminal is used for receiving the electronic map from the cloud server, triggering the position identification of the indoor positioning subsystem in the electronic map, and receiving the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinate and attribute information of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification; establishing a wireless communication link with an intelligent terminal based on electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path of the intelligent terminal based on indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on an indoor map; wherein: the interactive terminal is positioned in an indoor positioning subsystem where the intelligent terminal is positioned; or, the interactive terminal is not located in the respective indoor range of the at least two indoor positioning subsystems; or the interactive terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned.
In one embodiment, the system further comprises: the sharing terminal is used for receiving the electronic map from the cloud server and receiving the indoor map of the indoor positioning subsystem where the intelligent terminal is located, the indoor coordinates of the intelligent terminal and the attribute information of the intelligent terminal from the interaction terminal; establishing a wireless communication link with an intelligent terminal based on electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path of the intelligent terminal based on indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on an indoor map; the sharing terminal is located in an indoor positioning subsystem where the intelligent terminal is located; or the sharing terminal is not positioned in the respective indoor ranges of the at least two indoor positioning subsystems; or the sharing terminal is located in the respective indoor ranges of the at least two indoor positioning subsystems and is not located in the indoor positioning subsystem where the intelligent terminal is located.
For example, the attribute information of the smart terminal may include: and the electronic business card data of the user of the intelligent terminal or the exhibit information of the intelligent terminal. For example, the electronic business card data of the user of the intelligent terminal can be the nickname, age, gender, instant messaging account number and the like of the user using the intelligent terminal. The exhibit information of the intelligent terminal may be an article name, a production date, a price, and the like of the first intelligent terminal.
In one embodiment, in the positioning mode shown in fig. 2, the at least three ultrasonic signal transmitting units include a master device, and the master device is further configured to transmit an ultrasonic signal including an indoor map identifier; the intelligent terminal is also used for sending the indoor map identification to the cloud end; and the interactive terminal is also used for acquiring an indoor map corresponding to the indoor map identification from the cloud end and mapping the indoor coordinates onto the indoor map.
In one embodiment, the interactive terminal is used for establishing a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal and sending social information to the intelligent terminal based on the wireless communication link. For example, the interactive terminal may chat with the intelligent terminal or transmit an electronic document. Specifically, the wireless communication link may include: near field communication, bluetooth, zigbee, wireless broadband, second generation mobile communication, third generation mobile communication, fourth generation mobile communication, or fifth generation mobile communication, and the like. Here, the chat between the interactive terminal and the intelligent terminal may be based on third-party instant messaging software or independently developed instant messaging chat software.
In one embodiment, the interactive terminal, the smart terminal, and the sharing terminal may be implemented as a smart phone, a palm computer with a telephone communication function, a tablet computer, a Personal Digital Assistant (PDA), or the like.
In conclusion, the indoor positioning system is an accurate positioning system, and the positioning accuracy of the accurate positioning system reaches the centimeter level. Enough positioning devices are arranged in a certain range to form a large enough positioning network, all intelligent terminals in the space are accurately positioned, the positions of the intelligent terminals are displayed in a space map, and other intelligent terminals in the positioning network are shared through a cloud. Thus, remote positioning navigation based on the precise position and other applications based on the precise position can be realized.
The positioning networking method based on the indoor accurate positioning system comprises the following steps: the system comprises a plurality of positioning subsystems, a plurality of intelligent terminals and a cloud database. The intelligent terminal is arranged in each positioning subsystem, and the positioning subsystems are independent from each other and have no direct information transmission. Each of the plurality of positioning subsystems includes at least one positioning device. The positioning device comprises a processor and at least four signal transmitting units, wherein one of the at least four signal transmitting units is set as a main transmitting unit, and the rest of the at least four signal transmitting units are set as auxiliary transmitting units. The processor of the positioning device is used for processing multi-channel audio signals, electro-acoustic conversion, an amplifier and the like; the method comprises the steps that a main transmitting unit and a slave transmitting unit send positioning signals at T0 time intervals, the positioning signals contain the ID of the transmitting unit, the ID is recorded as an emission _ ID, the emission _ ID in the same positioning device is unique, and the emission _ ID in different positioning devices can be not unique; the main transmitting unit also sends an instruction signal at a time interval of T1, wherein the instruction signal comprises other signals such as Position _ ID and the like; the Position _ ID is a unique ID code of a main transmitting unit in each positioning device and is used for distinguishing other positioning devices in the positioning system; at least four transmitting units in the positioning device in the positioning subsystem are used for transmitting signals as sound wave signals.
The cloud database is a database set by a system administrator in advance, and includes but is not limited to the following data: a positioning device main transmitting unit ID, an indoor map corresponding to the ID, the type of the positioning device corresponding to the ID, and coordinate information of the main transmitting unit.
The positioning device type refers to the type of the position distribution of the main transmitting unit and the auxiliary transmitting unit, and different device types are defined according to the arrangement positions of the auxiliary transmitting unit and the main transmitting unit and the different distances among the transmitting units.
In addition, the cloud database is also used as a medium for information communication among the intelligent terminals in a certain social environment, receives coordinates sent by the intelligent terminals to the cloud, and sends coordinates and communication information of other intelligent terminals to the intelligent terminals. The intelligent terminal is a positioned device and is used for receiving signals transmitted by a positioning device in a positioning system, sending information to the cloud and receiving the information sent by the cloud. The smart terminal has a unique ID number, which may be a number generated during the production of the Mobile terminal, may be set by the user during registration, or may be set according to other settings.
According to the networking structure schematic diagram of the indoor positioning system, the positioning device in each positioning subsystem accurately positions the intelligent terminal, and the intelligent terminal shares the position and information of the intelligent terminal in each positioning subsystem with the intelligent terminals in other positioning subsystems through the cloud. Therefore, the positioning subsystems can be connected through the cloud end to form a large positioning network, and even if the distance between the two intelligent terminals is further far, the two intelligent terminals can share the accurate positions of the positioning subsystems as long as the two intelligent terminals are in the positioning subsystems, and can be displayed in the same map in real time, so that positioning navigation based on the accurate positions can be realized. The positioning device in the positioning subsystem does not need to access the Internet, and the intelligent terminal transmits information with the Internet.
The various parts in the positioning network are allocated in combination, each part playing its own role. And a positioning device in the positioning network sends a positioning result to the cloud terminal by taking the positioned intelligent terminal as a medium. Each positioning subsystem is independent, direct communication connection is not formed between the positioning subsystems, the positioning devices in each set of positioning subsystems are also independent, and each transmitting unit in each positioning device only transmits signals without mutual influence. The transmitting unit in the positioning device of each positioning subsystem is provided with a fixed three-dimensional coordinate, each transmitting unit is combined together according to the three-dimensional coordinates to form the positioning device, and a plurality of sets of positioning devices form the positioning subsystem. The positioning device displays the position in the indoor map according to the three-dimensional coordinates of each main transmitting unit. The positioning system is displayed in a regional map (GPS map) and is based on the principle that at least one set of positioning device is arranged in each positioning subsystem, the set positioning device is set as a main positioning device, the three-dimensional coordinates of a main transmitting unit in the set main positioning device are uniquely determined, the three-dimensional coordinates are converted into longitude and latitude to be matched with the GPS, so that indoor positioning can be combined into the city or regional map (GPS map), indoor positioning and outdoor positioning are combined, and the accurate positioning of the GPS in the last kilometer is realized.
In one embodiment, the method further comprises in advance: establishing a cloud database containing an online map; matching a plurality of indoor maps expressed in relative coordinates to an online map expressed in global satellite positioning coordinates;
the method further comprises the following steps: converting global satellite positioning coordinates in an online map to relative coordinates in any indoor map or between relative coordinates in a plurality of indoor maps, wherein: converting between relative coordinates in the plurality of indoor maps includes at least one of: selecting a corresponding positioning device based on the only received main transmitting unit positioning signal; based on the received positioning signals of the plurality of main transmitting units, selecting the main transmitting unit with the maximum signal intensity, and selecting the positioning device when receiving at least three positioning signals sent by the positioning device corresponding to the main transmitting unit; waiting when the number of the received positioning signals sent by each positioning device is less than three; and when the number of the received positioning signals sent by the positioning devices is less than three, and the number of the received positioning signals sent by the positioning devices is at least three, selecting the positioning device which sends at least three positioning signals, and the like.
The indoor positioning networking of this application mainly includes following step: establishing a database, matching an indoor map to an online map, positioning a subsystem, switching coordinates, positioning and checking and information exchange.
1. Building a database
The system administrator sets a cloud database, which includes, but is not limited to, the indoor map information corresponding to the Position _ ID and the coordinate information of all the transmitting units of the positioning device corresponding to the Position _ ID. The online map is also stored in the cloud database, and comprises a satellite map, an electronic map and a surface topographic map, and comprises information such as traffic, terrain, geography, real scene and the like. The indoor map may be an indoor map of a certain room, a fixed indoor map such as a mall, a railway station, an airport, an exhibition, a school, a mine, etc., a mobile indoor map such as a train, an automobile, an airplane, etc., or a combination of a plurality of indoor maps such as a community, a business district, etc. The indoor map may be a two-dimensional or three-dimensional map, a virtual enhanced map, an actual enhanced map, or the like. The indoor map includes information such as indoor layout, object position, and the like.
2. Indoor map and on-line map
Each point of the online map is represented by longitude, latitude and altitude, and at present, the map is mainly based on GPS positioning, the precision of the GPS is 3 meters, and GPS signals are difficult to receive indoors. The positioning accuracy of the GPS is far from meeting the positioning requirements of indoor personnel and articles. This patent is used outdoor based on GPS location and indoor based on the accurate location of ultrasonic wave combines together the accurate location that realizes all positions.
The method and the device are based on the ultrasonic positioning system, the precision needs to reach the centimeter level for accurate positioning, and coordinate information can not reach the precision by adopting longitude and latitude and altitude, so that relative coordinates are adopted for indoor positioning. The coordinates of a certain reference point in a building in a GPS map are longitude and latitude, height coordinates are recorded as (W, N, H), an indoor reference point is set as a coordinate origin O (0,0,0), the coordinates of each transmitting unit of the indoor accurate positioning subsystem relative to the coordinates of the O point are known, and the coordinates (x, y, z) of the intelligent terminal relative to the O point are calculated through the indoor accurate positioning subsystem.
When the map is displayed as an electronic map, the coordinates of each point in the map are longitude, latitude and altitude, and when the map is switched to an indoor map, each point of the indoor map is represented by using a relative coordinate. The same indoor map is provided with an origin, one building is provided with a plurality of floors, the building is provided with a coordinate origin, and map points in the floors are marked by relative coordinates.
Here two maps and two coordinates are involved. The map corresponding to the received GPS signal is an online map, outdoor map information including information such as geography, traffic and real scenes is displayed, and all points in the map are represented by longitude and latitude and altitude. The map corresponding to the received sound wave positioning signal is an indoor map and comprises information such as indoor layout and articles, and each point in the indoor map is represented by relative coordinates.
Thus, the patent refers to two coordinates, one being the coordinates in a GPS map, usually expressed in terms of latitude and longitude, and altitude, and the other being the relative coordinates of an indoor map. And the calculation of two coordinates is also involved, one is the conversion of GPS coordinates to indoor relative coordinates, and the other is the conversion of coordinates among a plurality of indoor positioning subsystems when the mobile terminal moves.
For example, when an indoor map is inquired and a positioning APP is opened by the mobile terminal, a city GPS map and a position or building information of a region where the mobile terminal is located are displayed first, when the indoor map of a certain position or building needs to be checked, the position is clicked to display the indoor map of the building, and when a positioning signal of an indoor positioning subsystem is received, specific indoor position information is displayed.
Similarly, when the map is enlarged or reduced, the GPS coordinates and the indoor relative coordinates are converted, and the indoor map is smoothly switched to the outdoor map.
The longitude and latitude coordinates of a certain fixed point in the building are P (W0, N0, H0), and when the indoor positioning is carried out, the coordinates are relative coordinates, and the certain indoor point is set as an origin O (0,0, 0). Coordinates of a position A point of the mobile intelligent terminal in the GPS map are longitude, latitude and altitude coordinates (W ', N ', H '), and position information of the mobile intelligent terminal obtained in indoor positioning is recorded as (x, y, z). The position of the point O and the point P is fixed, and the distance is known. In general, the O point may be set at the same position as the P point. The position information of the a point GPS coordinates can be converted into the indoor relative position coordinates.
3. Positioning subsystem positioning
One or more than one positioning device can be installed in the room, and the main transmitting unit sends command signals at T1 time intervals, wherein the command signals comprise information such as Position _ ID and the like. The positioning type refers to a shape type of the positioning device, for example, when four signal transmitting units are provided, three slave transmitting units are arranged as 1 equilateral triangle with a side length of 60 cm, and the center position of the triangle is the master transmitting unit, which is one type of the positioning device. The mobile intelligent equipment receives the instruction signal, analyzes the Position _ ID, and inquires the coordinates of the main transmitting unit of the positioning device and the type of the positioning device from a database through a network, so that the coordinates of all the auxiliary transmitting units can be calculated. All signal transmitting units of the positioning device send positioning signals at time intervals of T0, and the positioning signals contain the emission _ ID. The intelligent terminal receives the positioning signal, analyzes the emission _ ID, and acquires the coordinates of the emission unit corresponding to the obtained emission _ ID from the cloud database. At least four signal transmitting units position the mobile intelligent device by ultrasonic distance measurement (x, y, z)
4. Coordinate switching
And (4) switching the coordinates between the positioning devices, namely, switching the coordinates when the mobile terminal receives a signal of one positioning device and switches the signal to another positioning device. Firstly, the mobile device processes the signals received by the transmitting unit, selects the positioning device with strong signals to perform positioning calculation, and then calculates the coordinates of the mobile device according to the selected coordinates of the positioning device. The switching between different positioning devices is actually the switching between the positioning devices located in the same positioning system. Wherein, these different positioning devices can be located in the same positioning subsystem, and also can be located in different positioning subsystems.
In the coordinate switching between the positioning devices of a certain indoor positioning subsystem, when the mobile intelligent terminal moves from the indoor positioning device a to the indoor positioning device B in fig. 10, there is an overlapping coverage area of signals in the middle of the two positioning devices in the process. The signals received by the mobile intelligent terminal in the area can come from two different positioning devices, the mobile intelligent terminal needs to select the signals transmitted by the signal transmitting units from the same positioning device according to the positioning principle, and the positioning can be completed only by at least three signals from different transmitting units. The following description of how the mobile intelligent terminal selects the positioning signal in the process to complete the coordinate switching between different positioning devices is given:
in fig. 10, the main transmitter unit in positioning device a of the positioning subsystem is set to a1, the main transmitter unit has a Position _ ID, each transmitter unit has a respective emission _ ID, the main transmitter unit of positioning device B is set to B1, the main transmitter unit has a Position _ ID, and each transmitter unit has a respective emission _ ID. According to the fact that the identifications of the signals carried by the Position _ ID and the emission _ ID are different, the mobile intelligent terminal can distinguish which positioning device the received positioning signal comes from. As shown in fig. 10, when the mobile intelligent terminal moves from the positioning device a to the positioning device B of the positioning subsystem, in the overlapping coverage area of the signals, the following situations are selected as the positioning signals of the mobile intelligent terminal:
(1) the mobile intelligent terminal receives the positioning signals of the positioning device A and the positioning device B, and detects whether the signals are transmitted from the main transmitting unit A1 of the positioning device A or the signals transmitted by the main transmitting unit B1 of the positioning device B. If only the signal transmitted by A1 is detected, the mobile intelligent terminal only selects the signals transmitted by at least three transmitting units in the positioning device A and discards the signals transmitted by the ultrasonic transmitting units in the positioning device B.
(2) The mobile intelligent terminal receives positioning signals of the positioning device A and the positioning device B, and detects whether signals transmitted by a main transmitting unit A1 of the positioning device A or signals transmitted by a main transmitting unit B1 of the positioning device B exist. When the signals transmitted by the main transmitting unit A1 of the positioning device A and the signals transmitted by the main transmitting unit B1 of the positioning device B are detected, the intelligent terminal detects the signal intensity of the A1 and the B1, if the signal intensity of the A1 is stronger and the mobile intelligent terminal receives at least three positioning signals from the positioning device A, the mobile intelligent terminal only selects the positioning signals transmitted by at least three transmitting units in the positioning device A, and discards the signals transmitted by the ultrasonic transmitting unit in the positioning device B.
(3) The mobile intelligent terminal receives positioning signals of the positioning device A and the positioning device B, and detects whether signals transmitted by a main transmitting unit A1 of the positioning device A or signals transmitted by a main transmitting unit B1 of the positioning device B exist. When the signals transmitted by the main transmitting unit A1 of the positioning device A and the signals transmitted by the main transmitting unit B1 of the positioning device B are detected, the intelligent terminal detects the signal intensity of A1 and B1. If the signal strength of A1 is strong, but the mobile intelligent terminal receives less than three positioning signals from the positioning device A, and the mobile intelligent terminal receives at least three positioning signals from the positioning device B, the mobile intelligent terminal selects the positioning signals transmitted by at least three transmitting units from the positioning device B, and discards the signals transmitted by the ultrasonic transmitting units from the positioning device A.
(4) The mobile intelligent terminal receives positioning signals of the positioning device A and the positioning device B, and detects whether signals transmitted by a main transmitting unit A1 of the positioning device A or signals transmitted by a main transmitting unit B1 of the positioning device B exist. When the signals transmitted by the main transmitting unit A1 of the positioning device A and the signals transmitted by the main transmitting unit B1 of the positioning device B are detected, the intelligent terminal detects the signal intensity of A1 and B1. But the mobile intelligent terminal detects that less than three positioning signals are received from the positioning device A, B, the mobile intelligent terminal continues to wait until positioning calculation is performed after receiving the positioning signals transmitted by at least three transmitting units from the same positioning device.
And after the mobile intelligent terminal selects the positioning signal, calculating the coordinate of the mobile intelligent terminal at the moment according to the positioning signal. When the mobile intelligent terminal continues to move, the mobile intelligent terminal is more and more far away from the center of the positioning device A, and conversely, the mobile intelligent terminal is more and more close to the center of the positioning device B. Then the signal received by the mobile intelligent terminal to the positioning device B will be stronger and stronger until the signal of the positioning device a is completely not received, and the mobile intelligent terminal will completely enter the positioning range of the positioning device B.
The position information of the mobile intelligent terminal is calculated by taking the example that the mobile intelligent terminal receives the signal intensity of the transmitting unit in the positioning device A. When the ultrasonic signal transmitting units are time-synchronized and the intelligent terminal and the ultrasonic signal transmitting units are not time-synchronized, at least four positioning signals transmitted by the signal transmitting units in the positioning device A are needed to calculate the position information of the mobile intelligent terminal. The coordinates of the main transmitting unit of the positioning device a are obtained from the database, and as the above calculation method, the calculation formula is:
[(xa1-x)2+(ya1-y)2+(za1-z)2]1/2+r0＝d1；
[(xa2-x)2+(ya2-y)2+(za2-z)2]1/2+r0＝d2；
[(xa3-x)2+(ya3-y)2+(za3-z)2]1/2+r0＝d3；
[(xa4-x)2+(ya4-y)2+(za4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)a1,ya1,za1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)a2,ya2,za2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)a3,ya3,za3) Coordinates of a third ultrasonic signal transmitting unit in a room; (x)a4,ya4,za4) Coordinates of a fourth ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit. In another case, when the time synchronization between the ultrasonic signal transmitting units and the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit are performed, at least three positioning signals transmitted by the signal transmitting unit from the positioning device a are needed to calculate the position information of the mobile intelligent terminal, and the calculation principle is the same and is not repeated here.
5. Positioning viewing and information exchange
The main transmitting unit sends an instruction signal at T1 time intervals, and the instruction signal contains Position _ ID. The Position _ ID corresponds to an indoor map, the intelligent terminal receives the Position _ ID from the signal transmitting unit, analyzes the Position _ ID and transmits the Position _ ID to the cloud, and the cloud searches the Position _ ID, transmits the corresponding map to the intelligent terminal and displays the map. During positioning, the intelligent terminal calculates the coordinates of the intelligent terminal, displays the coordinates on a map, sends the coordinates to the cloud, receives the coordinates of other intelligent devices around the intelligent terminal and displays the coordinates on the map. The intelligent terminal sends the communication information and the personal information to the cloud end through the network, and meanwhile receives the communication information and the personal information and the like of other intelligent terminals sent by the cloud end.
Fig. 6 is a flowchart of a networking method based on a plurality of indoor accurate positioning systems according to the present invention.
In fig. 6, a detailed workflow of a networking method based on a plurality of indoor accurate positioning systems includes:
1. a system administrator sets a cloud database, a Position _ ID and indoor map information corresponding to the Position _ ID, a corresponding positioning device type, coordinates of a main transmitting unit and the like.
2. A set of positioning system is arranged in a set space, and the positioning system comprises at least one positioning device, and one positioning device comprises a processor and at least four signal transmitting units.
3. The main transmitting unit of the positioning device transmits an instruction signal or the like including the Position _ ID and other signals at a time interval of T1. The main transmitting unit and the auxiliary transmitting unit send positioning signals with a time interval of T0, and the positioning signals comprise an emission _ ID and other signals.
4. A mobile intelligent terminal 1 under a positioning system in a certain set indoor space opens a positioning APP, and when the mobile intelligent terminal logs in for the first time, personal information is registered and input. Receiving a Position _ ID signal sent by a main transmitting unit of one of the positioning devices in the positioning system, after receiving the Position _ ID signal, the mobile intelligent terminal 1 sends a map matched with the Position _ ID signal to the cloud end, and all positions with the positioning system are marked in the map.
5. The mobile intelligent terminal 1 receives the positioning signals sent by the main transmitting unit and the auxiliary transmitting unit in the positioning device to obtain the coordinates of the mobile intelligent terminal 1. The mobile intelligent terminal 1 matches the personal information with the obtained coordinates and corresponds the personal information to the downloaded map. And sending the coordinates and the Mobile _ ID matched with the personal information to the cloud.
6. The mobile intelligent terminal 1 opens a city or regional map sent by the cloud to the mobile intelligent terminal 1, all positions with indoor positioning systems are displayed in the map, a building body at a certain target position is clicked, and the cloud can automatically send an indoor map under the positioning system to the mobile intelligent terminal 1. The cloud sends the coordinates of other mobile intelligent terminals in the indoor positioning system and corresponding personal information to the mobile intelligent terminal 1. The mobile intelligent terminal 1 corresponds the received coordinates and personal information of other mobile intelligent terminals to the indoor map. If the indoor space is large, the user can click the required area or floor in the map according to the requirement of the user, and the area map is manually enlarged or reduced.
7. The Mobile intelligent terminal 1 clicks the positions of other Mobile intelligent terminals in the indoor map, looks up personal information of the other Mobile intelligent terminals, selects an intended social object, sends the information to the cloud terminal through the positioning APP, and then accurately sends the information to the Mobile intelligent terminal held by the intended social object according to the Mobile _ ID of the intended social object. After the intention social contact object receives the social contact information, the intention social contact object can directly reply the information through the positioning APP, or click to obtain the position button of the other party on the positioning APP, and the cloud end can send the specific position of the mobile intelligent terminal 1 to the mobile intelligent terminal of the social contact object and corresponds to the map.
8. Through the above description, the mobile intelligent terminals under different positioning systems can realize information exchange and position sharing. The two can also be navigated based on each other's precise location information. For example, if the mobile intelligent terminal 1 is used as a departure place and an intended social object is used as a destination, and if the two are not in the same room, an outdoor navigation part is needed, which can be realized by an outdoor navigation technology based on GPS. The mobile intelligent terminal 1 gives a reference path according to the current position and the indoor exit position, the outdoor part applies the GPS navigation technology to guide the user to reach an entrance of an indoor building where the intended social contact object is located, the mobile intelligent terminal 1 calculates the reference path from the entrance of the building to the destination where the social contact object is located, and finally the mobile intelligent terminal reaches the destination.
The networking method of the accurate positioning system comprises all indoor and outdoor spaces in terms of space, and positioning is achieved in an all-round mode. The method can also be widely applied to social occasions, exhibitions and the like. If the indoor map is a live-action map, or Virtual Reality (VR), Augmented Reality (AR), Mixed Reality (MR), etc., based on these maps, the application can be widely applied to live-action games, and other more application aspects can be developed.
In order to explain more intuitively, the networking based on the indoor accurate positioning system is applied to social contact in a large range, and inter-city communication is taken as an example for specific explanation.
Fig. 3 is a schematic diagram of inter-city social interaction according to the present invention. In fig. 3, the specific steps are as follows:
(1) the user opens the mobile intelligent terminal APP, and needs to register and input personal information when logging in for the first time; (2) reading friend information in an address list of the mobile intelligent terminal by the APP; (3) obtaining target city information by the APP; (4) downloading a target city map by the mobile intelligent terminal; (5) displaying the position of a place provided with the positioning system in a destination city map by the APP; (6) displaying the positions of friends in the address list of the mobile intelligent terminal or the positions of other strangers holding the mobile intelligent terminal on the basis of the step (5); (7) selecting a social contact object, clicking the positions of friends or strangers, and acquiring an indoor map of the social contact object; (8) the mobile intelligent terminal held by the social contact object is accurately positioned by a positioning system, and the accurate position of the social contact object is displayed in a map; (9) and clicking the accurate position of the social object, sending and receiving the communication information through the APP, or navigating to find the other side based on the accurate positions of the APP and the communication information.
The user holding the mobile intelligent terminal can be in the same certain area, and can also be in different areas, even different cities and different countries. When the position of the user does not have the accurate positioning system, other areas with the positioning systems installed can be checked, a map of a designated or desired area is opened in the application software, the position with the accurate positioning system installed can be displayed on the map, and the indoor map of the position can be opened for communication.
The invention can also be applied to the communication between people and objects, realizes the on-line exhibition participation, can not only check the exhibits, but also interact with the exhibits, and can also communicate with the people participating in the exhibition as if the people are in the exhibition. Fig. 4 is a diagram of a structure for online participation in a displaced exhibition according to the present invention. As shown in fig. 4, the following operations may be included: checking the exhibit: the exhibition hall is provided with an accurate positioning system, the mobile intelligent terminal opens positioning application software, exhibition information is input, the cloud sends a target exhibition map to the mobile intelligent terminal, an indoor map of the place is obtained, and commodities displayed in the place are checked. The user browses the exhibit at the mobile intelligent terminal, and when the user arrives at a certain regional position range of a certain exhibit, the mobile intelligent terminal can receive the interactive information sent by the exhibit. The user can also check the detailed information of the exhibit through the cloud database. Can also exchange with personnel in the exhibition, the mobile intelligent terminal can look over personnel's information and positional information through this patent positioning system location through high in the clouds database, sends and receives personnel's exchange information in the exhibition to the high in the clouds. Therefore, the intercity online exhibition participation or shopping can be realized. The users can participate in the exhibition on line at any place and any time.
In the above description, the respective distances from the ultrasonic-wave signal transmitting unit are calculated on the smart terminal. In practice, the distance to the intelligent terminal may be calculated at the ultrasonic signal transmitting unit, and the ultrasonic signal transmitting unit may transmit the calculated distance to the intelligent terminal, so that the intelligent terminal may determine the coordinates of itself in the room based on the distance.
Fig. 5 is a schematic structural diagram of ultrasonic ranging according to an embodiment of the present invention. As shown in fig. 5, the ranging system includes: an ultrasonic signal transmitting unit 1 including a first ultrasonic transmitter 11, a first ultrasonic receiver 12, and a calculating unit 13, the ultrasonic signal transmitting unit 1 holding a preset time value Δ T (for example, the time value Δ T may be held in the calculating unit 13); the intelligent terminal 2 comprises a second ultrasonic receiver 21 and a second ultrasonic transmitter 22, and the preset time value delta T is stored in the intelligent terminal 2; wherein: a first ultrasonic transmitter 11 for transmitting a first ultrasonic signal; a second ultrasonic receiver 21 for receiving the first ultrasonic signal; a second ultrasonic transmitter 22, configured to transmit a second ultrasonic signal at a time when the time value Δ T passes after a time when the second ultrasonic receiver 21 receives the first ultrasonic signal; a first ultrasonic receiver 12 for receiving a second ultrasonic signal; a calculating unit 13, configured to calculate a distance between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2 based on a first time recorded in the ultrasonic signal transmitting unit 1 when the first ultrasonic transmitter 11 transmits the first ultrasonic signal, a second time recorded in the ultrasonic signal transmitting unit 1 when the first ultrasonic receiver 12 receives the second ultrasonic signal, and the time value Δ T.
The first ultrasonic signal can carry the identification information of the ultrasonic signal transmitting unit 1, and the second ultrasonic signal can carry the identification information of the wearable device 2, so that the first ultrasonic signal and the second ultrasonic signal can be distinguished.
Specifically, the ultrasonic signal transmitting unit 1 and the smart terminal 2 respectively hold the same time value Δ T. The ultrasonic-wave signal transmitting unit 1 records the timing T1 at which the first ultrasonic-wave generator 11 transmits the first ultrasonic-wave signal based on the local clock. The first ultrasonic signal elapsed time T is received by the second ultrasonic receiver 21 of the smart terminal 2. Then, the second ultrasonic transmitter 22 of the smart terminal 2 transmits the second ultrasonic signal after a time Δ T elapses from the time when the second ultrasonic receiver 21 receives the first ultrasonic signal. Between the ultrasonic signal transmitting unit 1 and the smart terminal 2, the path through which the ultrasonic wave propagates in the air is the same, and therefore the second ultrasonic signal elapsed time T is received by the first ultrasonic receiver 12 of the ultrasonic signal transmitting unit 1. The ultrasonic-wave signal transmitting unit 1 records the time T2 at which the first ultrasonic receiver 12 receives the second ultrasonic wave signal based on the local clock. Then, T + Δ T + T ═ T2-T1;
therefore, the time T for the ultrasonic wave to travel in the air between the ultrasonic-wave signal transmitting unit 1 and the smart terminal 2 is: t ═ (T2-T1- Δ T)/2; therefore, the distance L between the ultrasonic signal emitting unit 1 and the intelligent terminal 2 is: l ═ C × T, where C is the speed of ultrasound propagation in air, and is a constant. Δ T is a preset value, which can range from 1 millisecond to 50 seconds.
For example: the ultrasonic signal transmitting unit 1 transmits the ranging ultrasonic wave M, the time difference from the transmission of the ranging ultrasonic wave M to the reception of the ultrasonic wave N returned by the smart terminal 2 again is 0.25s, that is, T2-T1 is 0.25s, and given that the preset time Δ T for the smart terminal 2 to process the ranging ultrasonic wave M is 0.05s, the time for the ranging ultrasonic wave M and the returning ultrasonic wave N to travel between the ultrasonic signal transmitting unit 1 and the smart terminal 2 in one way is 0.1s, and the speed for the ultrasonic wave to travel in the air is 350M/s, the distance between the ultrasonic signal transmitting unit 1 and the smart terminal 2 can be calculated to be 350 × 0.1 ═ 35M.
In one embodiment, the ultrasonic signal transmitting unit 1 is further configured to transmit the distance between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2, which is calculated by the calculating unit 13, to the intelligent terminal 2. For example, the ultrasonic-wave signal transmitting unit 1 may transmit the ultrasonic-wave signal including the distance to the second ultrasonic-wave receiver 21 of the smart terminal 2 via the first ultrasonic-wave transmitter 11. The intelligent terminal 2 can know the distance between the intelligent terminal 2 and the ultrasonic signal transmitting unit 1 by analyzing the ultrasonic signal.
In one embodiment, the ultrasonic-signal transmitting unit 1 further includes an alarm unit 14; the calculating unit 13 is further configured to send an alarm command to the alarm unit 14 when the distance between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2 exceeds a preset threshold value; and the alarm unit 14 is used for sending out an alarm signal according to the alarm command. For example, the alarm signal may be a light alarm, an audible alarm, a vibration alarm, or the like. In one embodiment, the intelligent terminal 2 further comprises an alarm unit 23. And the alarm unit 23 is used for sending out an alarm signal when the distance between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2 exceeds a preset threshold value. For example, the alarm signal may be a light alarm, an audible alarm, a vibration alarm, or the like.
Therefore, the distance measurement between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2 can be realized without sending the synchronization time between the ultrasonic signal transmitting unit 1 and the intelligent terminal 2, and the embodiment of the invention realizes the ultrasonic distance measurement without a synchronization clock. After the calculating unit 13 of the ultrasonic signal transmitting unit 1 calculates the distance to the intelligent terminal, the distance can be carried in the ultrasonic signal and transmitted to the wearable device, so that the intelligent terminal can obtain the distance.
Based on the structure shown in fig. 5, when the number of the ultrasonic signal transmitting units is three or more, time synchronization is not required between the ultrasonic signal transmitting units, and time synchronization is not required between the ultrasonic signal transmitting units and the intelligent terminal, so that the positioning calculation for the intelligent terminal can be realized. The ultrasonic wave transmitting unit and the smart terminal shown in fig. 5 can be applied to the structure shown in fig. 1. When the ultrasonic wave transmitting unit and the smart terminal shown in fig. 5 are applied to the system configuration shown in fig. 1, specifically: an indoor positioning subsystem comprising: each positioning device comprises at least three ultrasonic signal transmitting units which are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference; the ultrasonic signal transmitting units are used for respectively calculating the distances between the ultrasonic signal transmitting units and the intelligent terminal positioned indoors, bearing the calculated distances in the ultrasonic notification signals and transmitting the ultrasonic notification signals to the intelligent terminal; wherein each ultrasonic-wave signal transmitting unit has the same structure as the ultrasonic-wave signal transmitting unit 1 of fig. 5, and the smart terminal has the same structure as the first smart terminal 2 of fig. 5. The specific way of calculating the distance from the intelligent terminal by the ultrasonic signal transmitting unit is described with reference to fig. 5; the intelligent terminal in the indoor positioning subsystem is used for respectively analyzing the ultrasonic notification signals to obtain respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates to the cloud server.
Therefore, the embodiment of the invention also provides a thorough synchronous clock-free ultrasonic positioning method, and the basic principle is a three-point positioning method. First, three (or more) fixed-position fixing devices (i.e., ultrasonic signal transmitting units) each having at least one ultrasonic generator and at least one ultrasonic receiver are arranged. The device to be positioned is a wearable device having at least one ultrasonic generator and at least one ultrasonic receiver. The fixed equipment and the intelligent terminal are both provided with unique IDs. The fixed equipment sends the ultrasonic signal with the ID of the fixed equipment, the intelligent terminal receives the ultrasonic signal from the fixed equipment, and the ultrasonic signal with the ID of the fixed equipment is transmitted back after a preset time. According to the clock-synchronization-free ultrasonic ranging method, the distance between the mobile device and the fixed device can be obtained, and the distance between the intelligent terminal and the other two fixed devices can be measured in the same way. Therefore, time synchronization is not needed between the fixed equipment, and time synchronization is also not needed between the fixed equipment and the intelligent terminal.
The present invention will be described with reference to specific embodiments. Fig. 7 is a schematic diagram of social networking of a smart terminal according to a first embodiment of the present invention. Fig. 7 depicts the following states: the mobile intelligent terminal A, B is located in the indoor positioning sub-system of the invention, the indoor positioning sub-systems of the two can be an indoor positioning sub-system in the same geographical position, or an indoor positioning sub-system in two different geographical positions far away from each other, in this state, A, B can be a stranger or a friend, and the two can be socialized based on the accurate positions of each other, and the specific implementation steps are as follows: step (1), setting a cloud database; step (2), transmitting signals by transmitting units in all positioning devices in the indoor positioning subsystem; and (3) opening an APP (personal information is input by logging in for the first time) by the mobile intelligent terminal A, receiving a signal, and when the mobile intelligent terminal A receives a Position _ ID signal sent by a main transmitting unit in the positioning device in the step (2), acquiring coordinates, device types and matched map information of each transmitting unit matched with the Position _ ID signal from a cloud end by the mobile intelligent terminal A according to the Position _ ID signal, wherein all positions of the indoor positioning subsystem filled with the mobile intelligent terminal A can be displayed in a GPS map. And (4) the mobile intelligent terminal A receives the positioning signals sent by the main transmitting unit and the auxiliary transmitting unit in the positioning device in the step (3) to obtain the coordinates of the mobile intelligent terminal A. And (5) the mobile intelligent terminal A sends the personal information and the coordinates to the cloud end, and the coordinates at the moment are corresponding to the indoor map acquired from the cloud end in the step (3). And (6) the mobile intelligent terminal A opens the GPS map acquired from the cloud in the step (3), the GPS map can display the positions of all indoor positioning subsystems, the mobile intelligent terminal A clicks the position of the target indoor positioning subsystem, the cloud can send coordinates of other mobile intelligent terminals, personal information and the indoor map under the target indoor positioning subsystem to the mobile intelligent terminal A, the mobile intelligent terminal A displays the indoor map, and the received coordinates of other mobile intelligent terminals in the map are corresponded to the map. And (7) clicking the positions of other mobile intelligent terminals in the map in the step 6 by the mobile intelligent terminal A to check personal information, finding that the mobile intelligent terminal B is an intention social object, sending social information to the mobile intelligent terminal B through a cloud end, and checking the social information sent by the mobile intelligent terminal A, the specific position of the A, reply information and the like by the mobile intelligent terminal B through an APP. A. The two can also share the accurate position of each other through APP and carry out accurate navigation to find the specific position of the other party, and the outdoor navigation part can be realized based on GPS navigation technology.
Fig. 8 is a schematic diagram of social networking of a smart terminal according to a second embodiment of the present invention. In fig. 8, the following states are described: the mobile intelligent terminal A is in the indoor positioning subsystem, the mobile intelligent terminal C is not in the indoor positioning subsystem, in the state, the A can check the personal information of the C through the APP, and the C can check the specific position of the A through the APP. The state is more suitable for the user to arrive at a certain strange city, the friends nearby are searched through the APP, oral navigation of the friends is not needed, and the user can directly find the accurate indoor positions of the friends. The specific implementation steps are as follows: step (1), setting a cloud database; step (2), transmitting signals by transmitting units in all positioning devices in the indoor positioning subsystem; step (3), the mobile intelligent terminal A opens an APP (logs in for the first time to input personal information), receives signals, and when the mobile intelligent terminal A receives the Position _ ID signal sent by the main transmitting unit in the positioning device in the step (2), the mobile intelligent terminal A acquires coordinates, device types and matched map information of each transmitting unit matched with the Position _ ID signal from a cloud according to the Position _ ID signal, wherein the GPS map displays all positions provided with the indoor positioning subsystem of the patent; step (4), the mobile intelligent terminal A receives the positioning signals sent by the main transmitting unit and the auxiliary transmitting unit in the positioning device in step 3 to obtain the coordinate of the mobile intelligent terminal A; step (5), the mobile intelligent terminal A sends the personal information and the coordinates to a cloud end, and the coordinates at the moment are corresponding to the indoor map obtained from the cloud end in the step (3); step (6), the mobile intelligent terminal C opens an APP (logs in for the first time to input personal information), matches a mobile phone address book, acquires a target city map from a cloud, displays the positions of all indoor positioning subsystems provided with the map, and marks friend positions in the address book in the indoor positioning subsystems in the map; and (7) the mobile intelligent terminal C clicks the position of a target friend or the position of an intention social object (assuming that the mobile intelligent terminal A is used), the cloud sends an indoor map of an indoor positioning subsystem where the A is located and the coordinate of the A to the mobile intelligent terminal C, the mobile intelligent terminal C corresponds the coordinate of the A to the indoor map, the coordinate position of the A in the indoor map is clicked to send social information, and the mobile intelligent terminal A can check the personal information of the C to select reply information after receiving the information of the C. The mobile intelligent terminal C can navigate to a specific position in the room where A is located based on the precise position of A at the moment.
Fig. 9 is a schematic diagram of social networking of a smart terminal according to a third embodiment of the present invention. The following states are depicted in fig. 9: the mobile intelligent terminal A is in the indoor positioning subsystem, the mobile intelligent terminal C, D is not in the indoor positioning subsystem, in the state, the mobile intelligent terminals A and C can be friends, C and D are friends, and C can share the specific position of A to D through APP, so that further communication between A and D is facilitated. The specific implementation steps are as follows: step (1), setting a cloud database; step (1), transmitting signals by transmitting units in all positioning devices in an indoor positioning subsystem; step (3), the mobile intelligent terminal A opens an APP (logs in for the first time to input personal information), receives signals, and when the mobile intelligent terminal A receives the Position _ ID signal sent by the main transmitting unit in the positioning device in the step (2), the mobile intelligent terminal A acquires coordinates, device types and matched map information of each transmitting unit matched with the Position _ ID signal from a cloud according to the Position _ ID signal, wherein the GPS map displays all positions provided with the indoor positioning subsystem of the mobile intelligent terminal A; step (4), the mobile intelligent terminal A receives the positioning signals sent by the main transmitting unit and the auxiliary transmitting unit in the positioning device in step 3, and the coordinates of the mobile intelligent terminal A are obtained through reference; step (5), the mobile intelligent terminal A sends the personal information and the coordinates to a cloud end, and the coordinates at the moment are corresponding to the indoor map obtained from the cloud end in the step (3); and (6) opening the APP (personal information is logged in for the first time) by the mobile intelligent terminals C and D, matching a mobile phone address book, obtaining a target city map from the cloud end by the mobile intelligent terminal C, displaying all positions with the indoor positioning subsystems in the map, marking the positions of friends in the address book in the positions, clicking the position of A, sending the indoor map of the indoor positioning subsystem with the position of A and the personal information and coordinates of the A to the position of C by the cloud end, enabling the coordinate of the A to correspond to the map by the position of C, and sharing the map to the position of D. And (7) opening the indoor map with the coordinate position of the A sent from the C by the mobile intelligent terminal D, acquiring the specific position of the A, carrying out interactive communication with the A through the APP, and navigating to find the A based on the specific position of the A.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. An interactive system based on indoor positioning, comprising:
the system comprises at least two indoor positioning subsystems, a cloud server and a plurality of intelligent terminals, wherein the at least two indoor positioning subsystems are respectively used for executing indoor positioning on the intelligent terminals in respective indoor ranges, and the intelligent terminals in the respective indoor ranges of the indoor positioning subsystems respectively provide indoor coordinates determined based on the indoor positioning and attribute information of the intelligent terminals to the cloud server;
the cloud server is used for providing an electronic map, the electronic map comprises the position identifications of the at least two indoor positioning subsystems, and when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the cloud server sends the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification;
the attribute information of the intelligent terminal comprises user electronic business card information of the intelligent terminal or exhibit information of the intelligent terminal; the interactive system further comprises:
the interactive terminal is used for receiving the electronic map from the cloud server, triggering the position identification of the indoor positioning subsystem in the electronic map, and receiving the indoor map of the indoor positioning subsystem corresponding to the triggered position identification and the indoor coordinate and attribute information of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification; establishing a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on the indoor map;
wherein: the interactive terminal is positioned in an indoor positioning subsystem where the intelligent terminal is positioned; or, the interactive terminal is not located in the respective indoor range of the at least two indoor positioning subsystems; or the interactive terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned.
2. The indoor positioning-based interaction system of claim 1, wherein the indoor positioning subsystem comprises: the ultrasonic positioning system comprises at least three ultrasonic signal transmitting units, a positioning unit and a positioning unit, wherein the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the intelligent terminal is positioned in the indoor range of the indoor positioning subsystem and used for receiving the ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units and determining indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units.
3. Indoor positioning-based interaction system according to claim 2,
the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal is used for calculating indoor coordinates (x, y, z) of the intelligent terminal based on the following formula:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2＝d3；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Is as followsCoordinates of an ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit;
or
The number of the ultrasonic signal transmitting units is four, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal is used for calculating indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+r0＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+r0＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+r0＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; (x)4、y4、z4) Coordinates of a fourth ultrasonic signal transmitting unit in a room; d1 is formed by the intelligent terminal and the first ultrasonic signal transmitting unitCalculating the distance; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit.
4. The indoor positioning-based interaction system of claim 1, further comprising:
the sharing terminal is used for receiving the electronic map from the cloud server and receiving the indoor map of the indoor positioning subsystem where the intelligent terminal is located, the indoor coordinates of the intelligent terminal and the attribute information of the intelligent terminal from the interaction terminal; establishing a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sending social information to the intelligent terminal based on the wireless communication link, calculating an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displaying the indoor meeting path on the indoor map;
the sharing terminal is located in an indoor positioning subsystem where the intelligent terminal is located; or the sharing terminal is not positioned in the respective indoor ranges of the at least two indoor positioning subsystems; or the sharing terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned; or the sharing terminal is located in the respective indoor ranges of the at least two indoor positioning subsystems and is not located in the indoor positioning subsystem where the sharing terminal is located.
5. An interaction method based on indoor positioning is characterized in that the method comprises the following steps:
the method comprises the following steps that at least two indoor positioning subsystems respectively carry out indoor positioning on intelligent terminals in respective indoor ranges, wherein the intelligent terminals in the respective indoor ranges of the indoor positioning subsystems respectively provide indoor coordinates determined based on the indoor positioning and attribute information of the intelligent terminals to a cloud server;
the cloud server provides an electronic map, and the electronic map comprises position identifications of the at least two indoor positioning subsystems;
when at least one of the position identifications of the at least two indoor positioning subsystems is triggered, the cloud server sends an indoor map of the indoor positioning subsystem corresponding to the triggered position identification and indoor coordinates of the intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identification;
the attribute information of the intelligent terminal comprises user electronic business card information of the intelligent terminal or exhibit information of the intelligent terminal; the method further comprises the following steps:
the interactive terminal receives an electronic map, triggers a position identifier of an indoor positioning subsystem in the electronic map, and receives the indoor map of the indoor positioning subsystem corresponding to the triggered position identifier and indoor coordinates and attribute information of an intelligent terminal in the indoor positioning subsystem corresponding to the triggered position identifier;
the interactive terminal establishes a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, and sends social information to the intelligent terminal based on the wireless communication link;
the interactive terminal calculates an indoor meeting path of the intelligent terminal based on the indoor coordinates of the intelligent terminal and displays the indoor meeting path on the indoor map;
the interactive terminal is positioned in an indoor positioning subsystem where the intelligent terminal is positioned; or, the interactive terminal is not located in the respective indoor range of the at least two indoor positioning subsystems; or the interactive terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned.
6. The indoor positioning-based interaction method of claim 5, wherein the indoor positioning subsystem comprises: the ultrasonic positioning system comprises at least three ultrasonic signal transmitting units, a positioning unit and a positioning unit, wherein the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in a room and are respectively used for transmitting ultrasonic positioning signals, and the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the intelligent terminal located in the indoor range of the indoor positioning subsystem receives the ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units, and determines indoor coordinates of the intelligent terminal based on the respective distances between the intelligent terminal and the at least three ultrasonic signal transmitting units.
7. Indoor positioning-based interaction method according to claim 6,
the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal calculates the indoor coordinates (x, y, z) of the intelligent terminal based on the following formula:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2＝d3；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is ZhiThe distance between the terminal and the third ultrasonic signal transmitting unit can be calculated;
or
The number of the ultrasonic signal transmitting units is four, the ultrasonic signal transmitting units are time-synchronized, and the intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
the intelligent terminal calculates indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+r0＝d1；
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+r0＝d2；
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+r0＝d3；
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+r0＝d4；
wherein:
(x, y and z) are indoor coordinates of the intelligent terminal; (x)1、y1、z1) Coordinates of a first ultrasonic signal transmitting unit in a room; (x)2、y2、z2) Coordinates of a second ultrasonic signal transmitting unit in a room; (x)3、y3、z3) Coordinates of a third ultrasonic signal transmitting unit in a room; (x)4、y4、z4) Coordinates of a fourth ultrasonic signal transmitting unit in a room; d1 is the calculated distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the intelligent terminal and the ultrasonic signal transmitting unit.
8. The indoor positioning-based interaction method of claim 5, further comprising:
the method comprises the steps that a sharing terminal obtains an electronic map from a cloud server and receives indoor coordinates of an intelligent terminal and attribute information of the intelligent terminal from an interaction terminal;
the sharing terminal establishes a wireless communication link with the intelligent terminal based on the electronic business card data of the intelligent terminal, sends social information to the intelligent terminal based on the wireless communication link, calculates an indoor meeting path with the intelligent terminal based on the indoor coordinates of the intelligent terminal, and displays the indoor meeting path on the indoor map;
the sharing terminal is located in an indoor positioning subsystem where the intelligent terminal is located; or the sharing terminal is not positioned in the respective indoor ranges of the at least two indoor positioning subsystems; or the sharing terminal is positioned in the respective indoor ranges of the at least two indoor positioning subsystems and is not positioned in the indoor positioning subsystem where the intelligent terminal is positioned; or the sharing terminal is located in the respective indoor ranges of the at least two indoor positioning subsystems and is not located in the indoor positioning subsystem where the sharing terminal is located.
9. Indoor positioning-based interaction method according to claim 5,
the method also comprises in advance: establishing a cloud database containing an online map; matching a plurality of indoor maps expressed in relative coordinates to an online map expressed in global satellite positioning coordinates;
the method further comprises the following steps:
converting global satellite positioning coordinates in an online map to relative coordinates in any indoor map or between relative coordinates in a plurality of indoor maps, wherein: converting between relative coordinates in the plurality of indoor maps includes at least one of:
selecting a corresponding positioning device based on the only received main transmitting unit positioning signal;
based on the received positioning signals of the plurality of main transmitting units, selecting the main transmitting unit with the maximum signal intensity, and selecting the positioning device when receiving at least three positioning signals sent by the positioning device corresponding to the main transmitting unit;
waiting when the number of the received positioning signals sent by each positioning device is less than three;
when the number of the received positioning signals sent by the positioning devices is less than three, and the number of the received positioning signals sent by the positioning devices is at least three, the positioning device which sends at least three positioning signals is selected, wherein the at least three positioning signals comprise the positioning signals sent by the main transmitting unit.
CN201611113477.6A 2016-12-06 2016-12-06 Interactive system and method based on indoor positioning Active CN108173736B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611113477.6A CN108173736B (en) 2016-12-06 2016-12-06 Interactive system and method based on indoor positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611113477.6A CN108173736B (en) 2016-12-06 2016-12-06 Interactive system and method based on indoor positioning

Publications (2)

Publication Number Publication Date
CN108173736A CN108173736A (en) 2018-06-15
CN108173736B true CN108173736B (en) 2021-03-09

Family

ID=62526292

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611113477.6A Active CN108173736B (en) 2016-12-06 2016-12-06 Interactive system and method based on indoor positioning

Country Status (1)

Country Link
CN (1) CN108173736B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110873862A (en) * 2018-08-29 2020-03-10 苏州触达信息技术有限公司 Positioning system and method in predetermined space
CN110440807A (en) * 2019-08-13 2019-11-12 Oppo（重庆）智能科技有限公司 Indoor navigation method and device, storage medium and electronic equipment
CN112394325B (en) * 2019-08-16 2023-11-28 苏州触达信息技术有限公司 Doppler frequency offset estimation system, method and device for ultrasonic positioning signals
CN112393726B (en) * 2019-08-16 2023-10-27 苏州触达信息技术有限公司 Ultrasonic positioning system, method, device and computer readable storage medium
CN110823210A (en) * 2019-09-23 2020-02-21 惠州学院 Navigation map presetting system for indoor parking lot and real-time updating method thereof
CN110908504B (en) 2019-10-10 2021-03-23 浙江大学 Augmented reality museum collaborative interaction method and system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102333277A (en) * 2011-07-29 2012-01-25 上海合合信息科技发展有限公司 Electronic name card transmitting method and system combining geographical position information and Bluetooth technology

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8812022B2 (en) * 2010-12-31 2014-08-19 Kt Corporation Method and apparatus for indoor location measurement

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102333277A (en) * 2011-07-29 2012-01-25 上海合合信息科技发展有限公司 Electronic name card transmitting method and system combining geographical position information and Bluetooth technology

Also Published As

Publication number Publication date
CN108173736A (en) 2018-06-15

Similar Documents

Publication Publication Date Title
CN108173736B (en) Interactive system and method based on indoor positioning
US9661467B2 (en) System and method for indoor location mapping and tracking
US8239132B2 (en) Systems, apparatus and methods for delivery of location-oriented information
US9491584B1 (en) Hospitality venue navigation, guide, and local based services applications utilizing RF beacons
EP2949106B1 (en) Visual identifier of third party location
WO2017044514A1 (en) Associating a signal observation with a location tag
CN107850658A (en) Enhanced Passive Positioning with adaptive positive location
CN106030332B (en) For determining the positioning system of the position of equipment
US20100205242A1 (en) Friend-finding system
JP2011154030A (en) Dynamic multiple position information integrative system
CN104121906A (en) Mobile device locating in conjunction with localized environments
CN103968822A (en) Navigation method, apparatus used for navigation and navigation system
WO2013191970A1 (en) Collaborative navigation techniques for mobile devices
Puértolas Montañés et al. Smart indoor positioning/location and navigation: A lightweight approach
WO2008124074A1 (en) Method and apparatus for acquiring local position and overlaying information
US9204248B2 (en) Communication terminal and information transmission processing method therefor
Keikhosrokiani et al. Wireless positioning techniques and location-based services: a literature review
CN108303678B (en) Interactive system and interactive method based on indoor accurate positioning
Korbel et al. A radio network for guidance and public transport assistance of the visually impaired
Keikhosrokiani et al. A study towards proposing GPS-based mobile advertisement service
Habib A survey on location systems for ubiquitous computing
CN108965102B (en) Event push method, electronic device and event push system
Yamaguchi et al. Estimation of locations in an underground shopping mall through inter-terminal message exchange
Pannita et al. APPLICATION FOR SEARCHING HANGOUT PLACES BASED ON MIDDLE POINT OF PARTICIPANT’S LOCATION (MEEDLE)
Panasiuk Individual mobile indoor navigation system

Legal Events

Date Code Title Description
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant