CN108226862B - Portable device, beacon and navigation system - Google Patents

Portable device, beacon and navigation system Download PDF

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Publication number
CN108226862B
CN108226862B CN201611160254.5A CN201611160254A CN108226862B CN 108226862 B CN108226862 B CN 108226862B CN 201611160254 A CN201611160254 A CN 201611160254A CN 108226862 B CN108226862 B CN 108226862B
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China
Prior art keywords
module
portable
navigation
positioning
voice
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CN201611160254.5A
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Chinese (zh)
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CN108226862A (en
Inventor
郝艳彪
刘秋平
罗力川
王治平
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电信科学技术研究院
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Priority to CN201611160254.5A priority Critical patent/CN108226862B/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18Stabilised platforms, e.g. by gyroscope
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • G01C21/206Instruments for performing navigational calculations specially adapted for indoor navigation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Abstract

The application discloses a portable device, a beacon and a navigation system, which are used for realizing portable indoor navigation equipment and system. The application provides a portable device, includes: the positioning module is used for receiving a broadcast packet transmitted by a beacon and positioning the portable equipment by using the broadcast packet and adopting an angle of arrival (AOA) or an angle of departure (AOD) technology; and the processor module is used for sending out a navigation instruction according to the positioning result of the positioning module.

Description

Portable device, beacon and navigation system

Technical Field

The present application relates to the field of communications technologies, and in particular, to a portable device, a beacon, and a navigation system.

Background

The blind people as vulnerable groups have a great deal of inconvenience in living and traveling, especially in some necessary large public service institutions such as hospitals and subway stations. The complex indoor structure is particularly not beneficial to the travel of the blind, and even special workers are needed to independently guide the blind in a service place, so that the development of a portable indoor blind guiding system is necessary.

Disclosure of Invention

The embodiment of the application provides a portable device, a beacon and a navigation system, which are used for realizing portable indoor navigation equipment and system.

The embodiment of the application provides a portable device, including:

the positioning module is used for receiving a broadcast packet transmitted by a beacon and positioning the portable equipment by using the broadcast packet and adopting an angle of arrival (AOA) or an angle of departure (AOD) technology;

and the processor module is used for sending out a navigation instruction according to the positioning result of the positioning module.

The portable navigation equipment based on the AOA or AOD technology is realized through the portable equipment, and the indoor navigation of users such as blind people is facilitated.

Optionally, the method further comprises: the motion sensing module is used for determining the motion state and the direction of the portable equipment;

the processor module is specifically configured to: and sending a navigation instruction according to the positioning result of the positioning module and the motion state and direction of the portable equipment.

Optionally, the method further comprises: and the tactile feedback module is used for receiving the navigation instruction sent by the processor module and prompting the user in a tactile manner.

Optionally, the method further comprises:

a noise module for detecting ambient noise;

the processor module determines whether the mode for prompting the user is a touch mode or a voice mode by utilizing the environmental noise, and sends a navigation instruction to the touch feedback module in a touch mode or sends the navigation instruction to the voice module in a voice mode according to the positioning result of the positioning module;

the tactile feedback module is used for receiving the navigation instruction sent by the processor module and prompting a user in a tactile manner;

and the voice module is used for receiving the navigation instruction sent by the processor module and prompting the user in a voice mode.

Optionally, the voice module is further configured to receive a user voice instruction and convert the user voice instruction into navigation destination information;

the processor module sends a navigation instruction according to the destination information and the positioning result of the positioning module.

Optionally, the method further comprises: the key switching module is used for receiving a key instruction in a touch mode or a key instruction in a voice mode;

and when the processor module receives a key instruction in a touch manner or a key instruction in a voice manner, the processor module sends a navigation instruction to the touch feedback module in a touch manner or sends the navigation instruction to the voice module in a voice manner according to a positioning result of the positioning module.

Optionally, the navigation instruction includes an instruction of a direction and an angle, the haptic feedback module determines a vibration frequency corresponding to the direction in the navigation instruction according to a preset corresponding relationship between different directions and vibration frequencies, determines a vibration frequency corresponding to the angle in the navigation instruction according to a preset corresponding relationship between different angles and vibration times, and vibrates according to the determined vibration frequency and vibration times.

Optionally, the positioning module locates the portable device by using an angle of arrival AOA or angle of departure AOD technology, and specifically includes:

determining phase delays of broadcast packets for different antennas;

determining AOA or AOD according to the phase delay, the antenna spacing and the signal wavelength of the broadcast packet;

and determining polar coordinate values of the portable equipment with the beacon as an origin according to the AOA or the AOD, the signal strength indication (RSSI) value in the broadcast packet and the position information of the beacon.

Optionally, the portable device is a bluetooth bracelet.

An embodiment of the present application provides a beacon, including: the antenna comprises an antenna pair, a radio frequency switching module and a controller, wherein the controller controls the radio frequency switching module to transmit a broadcast packet through the antenna pair.

The navigation system provided by the embodiment of the application comprises the portable device provided by the embodiment of the application and the beacon provided by the embodiment of the application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating an AOD positioning principle provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of an AOA positioning principle provided by an embodiment of the present application;

fig. 3 is a schematic structural diagram of a portable device according to an embodiment of the present application;

fig. 4 is a schematic diagram illustrating a vibration prompting mode of a portable device according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a navigation system provided in an embodiment of the present application;

fig. 6 is a schematic view of a navigation process provided in an embodiment of the present application.

Detailed Description

The embodiment of the application provides a portable device, a beacon and a navigation system, which are used for realizing portable indoor navigation equipment and system.

The embodiment of the application can effectively solve the problem that the blind person cannot rapidly, safely and conveniently arrive at a target place from the current position during indoor activities, and particularly solves the problem of activity traveling in public places such as hospitals, subway stations and markets.

The embodiment of the application applies the receiving end arrival Angle (AOA) and transmitting end Departure Angle (AOD) technology in Bluetooth 5.0 to the indoor positioning technology for the first time by means of the Internet of things technology, realizes indoor positioning by one Bluetooth beacon node, and improves positioning accuracy. Meanwhile, the problem that beacons are difficult to use and expand in the traditional Radio Frequency Identification (RFID) blind guiding technology is solved, and the problem that a Global Positioning System (GPS) technology cannot position indoors is solved. Through regard as navigation terminal with the bluetooth bracelet, it is complicated to have solved current traditional navigation terminal operation flow, uses to carry inconvenient problem.

The embodiment of the application designs the self-adaptive switching interaction mode, and solves the problems of single interaction mode, low interaction efficiency and the like of the traditional blind guiding mode. Meanwhile, blind guiding prompt is carried out in two selectable modes of voice and touch, and the problem that the blind cannot use intelligent equipment such as a smart phone and an electronic navigation terminal to navigate is solved.

The technical scheme provided by the embodiment of the application mainly comprises two functional parts: beacon (Beacon) part and bluetooth bracelet part.

An Application (APP) layer in the Beacon controls the Beacon to enter a Broadcast (Broadcast) mode, and a Broadcast packet is sent, namely the Beacon broadcasts a Beacon installation position, a Received Signal Strength Indication (RSSI) value and other information to form a 255-byte Broadcast packet. That is to say, carry the position information of Beacon and the energy information of signalling in the broadcast package, the distance between Beacon and the bluetooth bracelet can be confirmed according to this energy information (RSSI value) to the bluetooth bracelet. Two positioning methods can be implemented by using the AOA or AOD function when transmitting and receiving broadcast packets.

The method I is based on the AOD positioning principle as follows:

as shown in fig. 1, an antenna and a Radio Frequency (RF) switching (Switch) module are installed in Beacon, a Controller (Controller) in Beacon adopts a protocol stack with bluetooth being 5.0 or more to control the RF Switch to work, that is, the Radio Frequency (RF) switching (Switch) module connected to the Controller (Controller) is controlled by setting a direct finding capability (direct finding enabled) command during broadcasting, so as to realize that broadcasting packets are respectively sent on different antennas. The bluetooth bracelet receives the broadcast packet that sends on two antennas, and the Controller (Controller) in the bluetooth bracelet calculates the phase delay ψ that obtains the broadcast packet that sends on two antennas to satisfy:

ψ=(2πd sin(θ))/λ

wherein d represents the distance between two mutually perpendicular antennas, which is a preset value, λ is the wavelength of the signal, the signals of the two antennas can be the same signal, the wavelength is the same, θ is the AOD angle, so that:

θ=sin-1((ψλ)/(2πd))

the bluetooth bracelet can preset the value of d, lambda, adopts prior art can confirm ψ, consequently just can obtain the size of AOD angle theta according to above formula. In the actual positioning process, according to the above principle, the antennas perpendicular to each other are used for transmitting the broadcast packet, so that the AOD angle pair at any position in the space can be obtained, and the spatial direction angle can be obtained. According to the size of RSSI value and the positional information of Beacon in the broadcast package again, can directly calculate the polar coordinate value that the bluetooth bracelet used Beacon as the initial point, obtain the position of bluetooth bracelet in real time, realized utilizing the accurate positioning of single Beacon to the bluetooth bracelet.

The second method is based on the AOA positioning principle as follows:

referring to fig. 2, based on the AOA positioning principle, without improving Beacon, antenna pairs and RF Switch need to be set in the bluetooth hand ring, the existing Beacon transmits broadcast packets, and the Controller in the bluetooth hand ring controls two antennas to receive signals by controlling the RF Switch, calculates the phase delay ψ of signals received by the two antennas, and satisfies:

Ψ=(2πd cos(θ))/λ

where d represents the distance between the two antennas perpendicular to each other, λ is the wavelength of the signals received by the two antennas, and θ is the AOA angle, so it can be calculated as:

θ=cos-1((ψλ)/(2πd))

just can obtain the size of AOA angle according to above formula, because distance d is less than the distance between bracelet and the Beacon far away, so AOA angle alright regard as the angle of bluetooth bracelet for Beacon. During positioning, according to the principle, the antennas which are perpendicular to each other are used for aligning, broadcast packet sending is carried out, AOA angle alignment of any position in space can be obtained, and then the AOA angle alignment is converted into a space azimuth angle, and the method can achieve more accurate direction by increasing the number of the antennas. According to the size of RSSI value and the positional information of Beacon in the broadcast package again, can directly calculate the polar coordinate value that the bluetooth bracelet used Beacon as the initial point, obtain the position of bluetooth bracelet in real time, realized utilizing the accurate positioning of single Beacon to the bluetooth bracelet.

In addition, the above description has been given by taking two antennas as an example, and in practical applications, more antennas may be provided to form an antenna matrix and transmit a broadcast packet.

As shown in fig. 3, the bluetooth bracelet described in the embodiments of the present application includes a motion sensing module 301, a positioning module 302, a noise module 304, a key switch module 306, a voice module 307, a haptic feedback module 305, and a processor module 303. Wherein:

the motion sensor module comprises a triaxial accelerometer, a triaxial gyroscope, a magnetometer, a motion state judgment module and a direction operation module. The three-axis gyroscope and the magnetometer output original signals to the direction operation module for direction judgment, and finally the motion state judgment module and the direction operation module output the motion state and the direction data of the blind person to the processor module respectively.

The positioning module comprises a low-power-consumption Bluetooth device and a positioning algorithm module, the Bluetooth device adopts a protocol above Bluetooth 5, the Bluetooth device works in an interception broadcast packet (observer) mode in a non-connection state, and when the Bluetooth device enters the transmitting range of the Beacon module, the Bluetooth device triggers the positioning algorithm module to position according to the method I or the method II introduced in the foregoing, and outputs the positioning coordinate value to the processor module for navigation operation.

The noise module is used for detecting noise in the environment, comparing the value of the noise with a set threshold value, and outputting the comparison result to the processor module for processing. When the noise is higher than the set threshold value, the processor module adopts the touch feedback module to guide the blind person to navigate, otherwise, the processor module adopts the voice module to guide the blind person to navigate.

The key switching module outputs the key result to the processor module. The blind can forcibly switch the tactile feedback mode and the voice mode by using the keys.

The voice module is responsible for receiving voice commands sent by the blind, converting the voice commands into places matched with the inside of the navigation system and outputting the places to the processor module; and the navigation instruction output by the processor is output in voice.

The tactile feedback module receives a tactile feedback instruction sent by the processor module and feeds back the navigation deviation through tactile vibration. The frequency or the intensity of the pulse vibration is used as left and right codes in the navigation of the blind person, so that the left and right judgment of the blind person is realized. For example, as shown in fig. 4, four vibration frequencies are used to indicate four directions, i.e., front, rear, left, and right, respectively, vibration frequency 1 indicates left walking, vibration frequency 2 indicates forward walking, vibration frequency 3 indicates right walking, and vibration frequency 4 indicates backward walking. Moreover, the angle that the blind person needs to deflect to the other direction in the current traveling direction can be prompted through the vibration times, for example, the blind person needs to turn to the right by 40 degrees, the blind person is prompted to turn to the right by using the vibration frequency 3, the specific turning angle is more or less, and the blind person needs to turn to the right by 40 degrees through the vibration times indication, namely, the blind person continuously uses the vibration frequency 3 to vibrate for 4 times. The direction and the distance of the blind can be adjusted in real time along with the running of navigation or periodically, and the adjustment period can be set according to the traveling speed of the blind, so that the blind can be reminded of the traveling route in time, the blind can be prevented from deviating the route too much, and the condition of the deviation of the route can be corrected in time.

The processor module receives the positioning coordinates sent by the positioning module, receives the motion state and the motion direction information from the motion sensing module, and takes the motion state and the motion direction information as the current information state of the blind. And receiving the output value of the noise module as the environment information state. The processor module compares and matches the current information state with the navigation path state, calculates the direction and distance of the blind person, compares and matches the environment information state with a set value to obtain an optimal interaction mode, and outputs the direction and distance of the blind person through the optimal interaction mode. The blind can force one key to switch the interactive mode according to personal wishes.

The working principle of the indoor blind guiding system is shown in fig. 5, the blind person wears the blind guiding Bluetooth bracelet, n Bluetooth beacons are deployed in the indoor environment, n is a positive integer, and real-time navigation for the blind person can be achieved through the Bluetooth beacons.

The bluetooth bracelet system is used according to the flow shown in fig. 6. The blind person only needs to start the navigation system through the keys to work, and the navigation using process is started by speaking out the target position to the voice module of the navigation bracelet, so that the operation is convenient. The navigation bracelet automatically performs optimal path planning for the blind. The bracelet detects the direction and the motion state of the blind through the motion sensor, judges the environmental state information through the noise detection module, selects an optimal interaction mode to provide navigation prompts for a user, further continuously corrects the route deviation condition of the user, and finally guides the user to reach a specified target according to a planned route to finish a navigation task.

An embodiment of the present application provides a beacon, including: the antenna comprises an antenna pair, a radio frequency switching module and a controller, wherein the controller controls the radio frequency switching module to transmit a broadcast packet through the antenna pair.

The navigation system provided by the embodiment of the application comprises the portable device provided by the embodiment of the application and the beacon provided by the embodiment of the application.

To sum up, this application embodiment realizes Beacon and fixes a position bluetooth equipment with AOA and AOD technical application for the Beacon location for the first time to with Beacon location application to indoor blind person navigation field, design into portable equipment such as bracelet with navigation terminal, realize speech output and vibration tactile feedback interactive mode, provide multiple switching mode, improved navigation's interactivity and practicality. Specifically, the embodiment of the application applies the AOA and AOD technologies to Beacon for the first time, and the Bluetooth equipment can be positioned by realizing one Beacon; the Beacon technology is used for the indoor blind person navigation field for the first time, a bracelet is used as a blind guiding terminal, a voice blind guiding and tactile feedback blind guiding automatic switching design is added in indoor blind guiding interaction, and an output result of a noise detection module is used as a judgment condition for automatic switching of two modes (a voice output mode and a vibration tactile feedback mode); the frequency or the intensity of the pulse vibration is used as front, back, left and right codes in the navigation of the blind person to realize the direction judgment of the blind person, and the pulse vibration times and the deviation angle of the navigation direction form a mapping relation, for example, the vibration is carried out for 4 times and deviates by 40 degrees. Therefore, the accurate positioning of the Bluetooth equipment by one Beacon is realized by using the AOA and AOD technologies, when the Beacon is applied to indoor blind person navigation, indoor continuous positioning is realized by a plurality of Beacons, the Beacon technology is applied to indoor blind person navigation, the Beacon technology is small in data volume, high in positioning speed and continuous positioning, free from the limitation of environmental change and high in positioning precision, the navigation terminal adopts the Bluetooth bracelet technology, is small in size, portable and easy to operate, the direction of the blind person obtained by combining the motion sensors is compared with the navigation direction in real time, the direction feeling of the blind person is enhanced, the touch feedback mode is adaptively switched with the voice output interaction mode, the interaction is realized, and the interaction efficiency and the user experience of multiple modes are; the long and short pulse vibration tactile feedback prompts quantitatively prompt the blind to move, and the accuracy and the effectiveness of vibration interaction are improved; the Beacon frequency hopping technology improves the anti-interference characteristic of the blind guiding system; the Bluetooth 5.0 technology can carry a 255-byte broadcast packet, can carry commercial information, public service information and other information in the Beacon broadcast packet, enables the blind and ordinary people to receive push information at the same time, for example, pushes promotion information for shopping mall merchants, and thus can push shopping mall to automatically deploy the Beacon device, and reduces the deployment cost of the blind guiding system. The voice output mode prompts the blind person to be guided, and the navigation is accurate.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (11)

1. A portable device, comprising:
the positioning module is used for receiving a broadcast packet transmitted by a beacon, positioning the portable equipment by using position information and signal transmission energy information carried in the broadcast packet and adopting an angle of arrival (AOA) or angle of departure (AOD) technology, wherein the broadcast packet is transmitted by Bluetooth;
and the processor module is used for sending out a navigation instruction according to the positioning result of the positioning module.
2. The portable device of claim 1, further comprising: the motion sensing module is used for determining the motion state and the direction of the portable equipment;
the processor module is specifically configured to: and sending a navigation instruction according to the positioning result of the positioning module and the motion state and direction of the portable equipment.
3. The portable device of claim 1, further comprising: and the tactile feedback module is used for receiving the navigation instruction sent by the processor module and prompting the user in a tactile manner.
4. The portable device of claim 1, further comprising:
a noise module for detecting ambient noise;
the processor module determines whether the mode for prompting the user is a touch mode or a voice mode by utilizing the environmental noise, and sends a navigation instruction to the touch feedback module in a touch mode or sends the navigation instruction to the voice module in a voice mode according to the positioning result of the positioning module;
the tactile feedback module is used for receiving the navigation instruction sent by the processor module and prompting a user in a tactile manner;
and the voice module is used for receiving the navigation instruction sent by the processor module and prompting the user in a voice mode.
5. The portable device of claim 4, wherein the voice module is further configured to receive a user voice command and convert the user voice command into navigation destination information;
the processor module sends a navigation instruction according to the destination information and the positioning result of the positioning module.
6. The portable device of claim 4, further comprising: the key switching module is used for receiving a key instruction in a touch mode or a key instruction in a voice mode;
and when the processor module receives a key instruction in a touch manner or a key instruction in a voice manner, the processor module sends a navigation instruction to the touch feedback module in a touch manner or sends the navigation instruction to the voice module in a voice manner according to a positioning result of the positioning module.
7. The portable device according to claim 4, 5 or 6, wherein the navigation command comprises a command of direction and angle, the haptic feedback module determines a vibration frequency corresponding to the direction in the navigation command according to a preset corresponding relationship between different directions and vibration frequencies, determines a vibration frequency corresponding to the angle in the navigation command according to a preset corresponding relationship between different angles and vibration times, and vibrates according to the determined vibration frequency and vibration times.
8. The portable device according to claim 1, wherein the positioning module locates the portable device by using an angle of arrival AOA or angle of departure AOD technique, specifically comprising:
determining phase delays of broadcast packets for different antennas;
determining AOA or AOD according to the phase delay, the antenna spacing and the signal wavelength of the broadcast packet;
and determining polar coordinate values of the portable equipment with the beacon as an origin according to the AOA or the AOD, the signal strength indication (RSSI) value in the broadcast packet and the position information of the beacon.
9. The portable device of claim 1, wherein the portable device is a bluetooth bracelet.
10. A beacon, comprising: the portable device comprises an antenna pair, a radio frequency switching module and a controller, wherein the controller controls the radio frequency switching module to transmit a broadcast packet through the antenna pair, and the broadcast packet is transmitted through Bluetooth, so that the portable device can be positioned by using position information and signal transmission energy information carried in the broadcast packet and adopting an arrival angle AOA (automatic optical access) or departure angle AOD (automatic optical detection) technology.
11. A navigation system comprising a portable device as claimed in any one of claims 1 to 9 and a beacon as claimed in claim 10.
CN201611160254.5A 2016-12-15 2016-12-15 Portable device, beacon and navigation system CN108226862B (en)

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