CN108303678B - Interactive system and interactive method based on indoor accurate positioning - Google Patents

Interactive system and interactive method based on indoor accurate positioning Download PDF

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Publication number
CN108303678B
CN108303678B CN201610726791.5A CN201610726791A CN108303678B CN 108303678 B CN108303678 B CN 108303678B CN 201610726791 A CN201610726791 A CN 201610726791A CN 108303678 B CN108303678 B CN 108303678B
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intelligent terminal
ultrasonic signal
signal transmitting
indoor
coordinates
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CN108303678A (en
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刘广松
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Suzhou Touchair Technology Co ltd
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Suzhou Touchair Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements

Abstract

The invention provides an interactive system and an interactive method based on indoor accurate positioning. 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 first intelligent terminal is located indoors and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to a cloud end; and the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud.

Description

Interactive system and interactive method based on indoor accurate positioning
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to an interactive system and an interactive method based on indoor accurate 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.
At present, the social software based on position location basically adopts wifi, bluetooth and the like for location. However, neither wifi nor bluetooth is accurate enough to locate the person's location information.
Disclosure of Invention
In view of this, the embodiment of the present invention provides an interactive system and an interactive method based on indoor accurate positioning.
The technical scheme of the embodiment of the invention is as follows:
an interactive system based on indoor accurate positioning, comprising:
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 first intelligent terminal is located indoors and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to a cloud end;
and the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud.
In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
a first smart terminal for calculating indoor coordinates (x, y, z) of the first smart 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit.
In one embodiment, 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 not time-synchronized;
a first intelligent terminal 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the first intelligent terminal and the secondCalculating distances of the three ultrasonic signal transmitting units; d4 is the calculated distance between the first intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the first intelligent terminal and the ultrasonic signal transmitting unit.
In one embodiment, the at least three ultrasonic signal transmitting units comprise a master device, and the master device is further configured to transmit an ultrasonic signal comprising an indoor map identifier;
the first intelligent terminal is also used for receiving an ultrasonic signal containing an indoor map identifier and sending the indoor map identifier to the cloud end;
and the second intelligent terminal is also used for acquiring an indoor map corresponding to the indoor map identification from a cloud end, and mapping the indoor coordinate of the first intelligent terminal to the indoor map.
In one embodiment, the attribute information of the first intelligent terminal is user electronic business card information of the first intelligent terminal or exhibit information of the first intelligent terminal.
In one embodiment, the second intelligent terminal is configured to establish a wireless communication link with the first intelligent terminal based on the electronic business card data of the first intelligent terminal, and send social information to the first intelligent terminal based on the wireless communication link.
In one embodiment, the second intelligent terminal is located in the room, receives ultrasonic positioning signals from the at least three ultrasonic signal transmitting units, calculates respective distances from the at least three ultrasonic signal transmitting units, determines an indoor coordinate of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinate of the second intelligent terminal onto the indoor map, calculates a meeting path with the first intelligent terminal based on the indoor coordinate of the first intelligent terminal and the indoor coordinate of the second intelligent terminal, and displays the meeting path on the indoor map.
An interaction method based on indoor accurate positioning comprises the following steps:
at least three ultrasonic signal transmitting units which are respectively arranged at respective fixed positions in a room respectively transmit ultrasonic positioning signals, wherein the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the method comprises the steps that a first intelligent terminal located indoors receives ultrasonic positioning signals from at least three ultrasonic signal transmitting units respectively, the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units are calculated, the indoor coordinate of the first intelligent terminal is determined based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and the indoor coordinate of the first intelligent terminal and attribute information of the first intelligent terminal are sent to a cloud end;
and the second intelligent terminal acquires the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud.
In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized; the first intelligent terminal calculates the indoor coordinates (x, y, z) of the first 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, z) are indoor coordinates of the first 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 firstCalculating the distance between the intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first 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 first 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the first intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the first intelligent terminal and the ultrasonic informationThe signal transmitting units are not time synchronized resulting in a range error.
In one embodiment, the at least three ultrasonic signal transmitting units comprise a master device, and the master device further transmits an ultrasonic signal comprising an indoor map identifier;
the first intelligent terminal also receives an ultrasonic signal containing an indoor map identifier and sends the indoor map identifier to a cloud end;
the second intelligent terminal also acquires an indoor map corresponding to the indoor map identification from a cloud end, and maps the indoor coordinate of the first intelligent terminal to the indoor map;
the second intelligent terminal also receives ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances from the at least three ultrasonic signal transmitting units, determines an indoor coordinate of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinate of the second intelligent terminal to the indoor map, calculates a meeting path with the first intelligent terminal based on the indoor coordinate of the first intelligent terminal and the indoor coordinate of the second intelligent terminal, and displays the meeting path on the indoor map.
According to the technical scheme, at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions indoors 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 first intelligent terminal is located indoors and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to a cloud end; and the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud. According to the invention, 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 acquire and utilize the accurate position information of the intelligent terminal, the person-to-person and person-to-object communication within a certain measurable range is realized, and a convenient social contact mode based on the geographic position is provided for users.
Moreover, 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 precise positioning according to the present invention;
fig. 2 is a first application of an interactive system based on indoor precise positioning according to the present invention;
fig. 3 is a diagram of a second application of the interactive system based on indoor precise positioning according to the present invention;
FIG. 4 is a schematic diagram of a positioning algorithm according to an embodiment of 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 an interaction method based on indoor accurate positioning according to an embodiment of the present invention;
fig. 7 is a flowchart of a user social method based on indoor accurate positioning according to an embodiment of the present invention.
Fig. 8 is a flowchart of a person communication method based on indoor accurate positioning according to an embodiment of 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.
Fig. 1 is a block diagram of an interactive system based on indoor precise positioning according to the present invention.
In fig. 1, the system includes a positioning device. The positioning device comprises at least three ultrasonic signal transmitting units. The ultrasonic signal transmitting units are respectively arranged at indoor fixed positions and are respectively used for transmitting ultrasonic positioning signals, and the ultrasonic signal transmitting units are not on the same straight line and the same circumference.
The system further comprises a first intelligent terminal located indoors, wherein the first intelligent terminal is used for receiving ultrasonic positioning signals from the positioning device (at least three ultrasonic signal transmitting units), calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to the cloud end.
Wherein, the attribute information of the first intelligent terminal may include: the electronic business card information of the user of the first intelligent terminal or the exhibit information of the first intelligent terminal. For example, the electronic business card data of the user of the first intelligent terminal may be a nickname, age, gender, instant messaging account number, and the like of the user using the first intelligent terminal. The exhibit information of the first intelligent terminal may be an article name, a production date, a price, etc. of the first intelligent terminal.
The system also includes a second intelligent terminal. The second intelligent terminal can be located in the same room as the first intelligent terminal or located outdoors. The second intelligent terminal obtains the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud end through wireless communication modes such as Bluetooth and Wifi, and therefore interaction based on the accurate position can be further achieved with the first intelligent terminal.
Fig. 2 is a first application of an interactive system based on indoor precise positioning according to the present invention.
In fig. 2, the positioning device, the first intelligent terminal and the second intelligent terminal are located in the same room. The first intelligent terminal provides indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to the cloud based on ultrasonic positioning with the positioning device. Similarly, the second intelligent terminal provides the indoor coordinates of the second intelligent terminal and the attribute information of the second intelligent terminal to the cloud based on the ultrasonic positioning with the positioning device. Specifically, the second intelligent terminal is configured to receive ultrasonic positioning signals from the positioning device (at least three ultrasonic signal transmitting units), calculate respective distances to the at least three ultrasonic signal transmitting units, determine indoor coordinates of the second intelligent terminal based on the respective distances to the at least three ultrasonic signal transmitting units, and send the indoor coordinates of the second intelligent terminal and attribute information of the second intelligent terminal to the cloud.
The second intelligent terminal obtains the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud end through wireless communication modes such as Bluetooth and Wifi, and the first intelligent terminal obtains the indoor coordinates of the second intelligent terminal and the attribute information of the second intelligent terminal from the cloud end through wireless communication modes such as Bluetooth and Wifi. Therefore, the first smart terminal and the second smart terminal have indoor coordinates and attribute information of the other party, respectively. Therefore, the first smart terminal and the second smart terminal may perform various types of human-human interaction or human-thing interaction.
Fig. 3 is a diagram of a second application of the interactive system based on indoor precise positioning according to the present invention.
In fig. 3, the positioning device is located in the same room as the first intelligent terminal, and the second intelligent terminal is located outside the room. The first intelligent terminal provides indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to the cloud based on ultrasonic ranging and positioning with the positioning device. The second intelligent terminal obtains the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud end in wireless communication modes such as Bluetooth and Wifi. Therefore, the second smart terminal has the indoor coordinates and attribute information of the first smart terminal. The first and second intelligent terminals may perform various types of human-human interaction or human-thing interaction.
FIG. 4 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 ultrasound signal transmitting units is required and the wearable device is time synchronized with the ultrasound signal transmitting units, 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 such an embodiment, time synchronization between the ultrasonic signal transmitting units is required and the wearable device can be time-synchronized with the ultrasonic signal transmitting units, so the applicable situation is more extensive.
In one embodiment, in the system shown in fig. 1, the at least three ultrasonic signal transmitting units comprise a master device, and the master device is further configured to transmit an ultrasonic signal containing an indoor map identifier; the first intelligent terminal is also used for sending the indoor map identification to the cloud end; and the second intelligent 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 second intelligent terminal is used for establishing a wireless communication link with the first intelligent terminal based on the electronic business card data of the first intelligent terminal and sending social information to the first intelligent terminal based on the wireless communication link. For example, the second intelligent terminal can chat with the first intelligent terminal or transmit the 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 second intelligent terminal and the first intelligent terminal may be based on third party instant messaging software or may be independently developed instant messaging chat software.
In one embodiment, the second intelligent terminal is located indoors, receives ultrasonic positioning signals from at least three ultrasonic signal transmitting units respectively, calculates respective distances from the at least three ultrasonic signal transmitting units, determines indoor coordinates of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinates of the second intelligent terminal onto the indoor map, calculates a meeting route with the first intelligent terminal based on the indoor coordinates of the first intelligent terminal and the indoor coordinates of the second intelligent terminal, and displays the meeting route on the indoor map. Thus, the user of the second intelligent terminal may walk directly past to communicate face-to-face with the user of the first intelligent terminal.
In one embodiment, the first and second intelligent terminals 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.
The invention relates to an indoor accurate positioning method and provides a social application based on the indoor accurate positioning. In a certain indoor social contact range, on-line and on-line communication between close-distance people and between people and objects is realized, and the on-line communication can be converted into off-line face-to-face communication, so that the simple face-to-face social contact of strangers is realized. This indoor accurate positioning system includes positioner, high in the clouds database and intelligent terminal. The indoor accurate positioning system comprises one or more sets of positioning devices, wherein each set of positioning device comprises a processor, a memory, a signal amplifier, a signal receiver and at least 3 signal transmitting units. One of the at least 3 signal transmitting units is set as a main transmitting unit, and the other signal transmitting units are set as slave transmitting units. The signal transmitting units are not on the same straight line and on the same circumference. The main transmitting unit sends a device ID signal to the intelligent terminal at a preset frequency f 0; the device ID is uniquely determined by a number of the main transmitting unit in the positioning system and is used to distinguish other positioning devices in the positioning system. The equipment ID signal is used for downloading an environment map matched with the equipment ID number to the cloud after the intelligent terminal receives the signal. The slave transmitting unit and the master transmitting unit send positioning signals at the same preset frequency f1, and the positioning signals are used for calculating the distances from the slave transmitting unit and the master transmitting unit to the intelligent terminal respectively. The transmitting unit includes, but is not limited to, acoustic wave signals, electromagnetic wave signals, and optical signals. The signals transmitted by the primary transmission unit include, but are not limited to, device ID signals and location signals.
The cloud database is a database set by a system administrator in advance, and includes but is not limited to system information such as an environment map and fixed equipment coordinates, the cloud database sends map information to the intelligent terminals according to the equipment IDs of the positioning devices, and sends other intelligent terminal coordinates and communication information to the intelligent terminals as a medium for information communication between the intelligent terminals in a certain social environment. The intelligent terminal is positioned equipment and is used for receiving signals sent by the fixed equipment and calculating the distance between the intelligent terminal and each piece of fixed equipment by using the received positioning signals; and sends own coordinate information, personal information and communication information to the cloud. The intelligent terminal has a unique mobile ID for marking different intelligent terminals.
The signal transmitting units transmit signals to the intelligent terminal, the distance between the signal transmitting units and the intelligent terminal is measured through the signals, the number of the signal transmitting units is at least three, the coordinate information of the signal transmitting units is known, the distance from each transmitting unit to the intelligent mobile terminal is calculated through positioning signal ranging, and the coordinates of the intelligent terminal can be calculated through a triangulation positioning principle.
The positioning algorithm is as follows: 1. the at least three fixture coordinates: (xi, yi, zi) i ═ 0,1,2, the coordinates are known; 2. and (3) coordinates of the intelligent terminal: (x, y, z), the coordinates being unknown; 3. the distance between each of the at least three fixed devices to the intelligent terminal is as follows: li i ═ 0,1,2, which can be found by ranging from positioning signals, Li is known. Meanwhile, the coordinate calculation can be carried out through the intelligent terminal and each transmitting unit; 4. r0 is derived from fixationThe error of clock asynchronism between the equipment and the intelligent terminal, wherein r0 is an unknown number; 5. pseudorange to physical range relationship:
Figure BDA0001091470580000121
Figure BDA0001091470580000122
the three equations solve the specific position information (x, y, z) of the intelligent terminal. Generally, when the signal transmitted by the transmitting unit is a sound wave signal, in order to calculate the distance from each transmitting unit to the intelligent terminal and synchronize clocks of each transmitting unit, the clocks of all the intelligent terminals and each transmitting unit are difficult to synchronize, and a parameter r0 is set as a pseudo range generated by clock check of the intelligent terminal and the transmitting unit, so in the invention, at least four signal transmitting units are preferably needed. At this time, the positioning algorithm is as follows:
1. at least four fixture coordinates: (xi, yi, zi) where i ═ 0,1,2,3, the coordinates are known;
2. and (3) coordinates of the intelligent terminal: (x, y, z), the coordinates being unknown;
3. the distances Li, i ═ 0,1,2,3 between each of the at least four fixed devices and the intelligent terminal can be obtained through positioning signal ranging, and Li is known. Meanwhile, the coordinate calculation can be carried out through the intelligent terminal and each transmitting unit;
4. r0 is derived from the clock asynchronism error between the fixed equipment and the intelligent terminal, and r0 is an unknown number;
5. pseudorange to physical range relationship:
Figure BDA0001091470580000131
Figure BDA0001091470580000132
the four equations are solved to obtain (x, y, z) and r0, and the specific position information (x, y, z) of the intelligent terminal can be obtained.
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 interactive system based on indoor accurate positioning, comprising:
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 ultrasonic signal transmitting units are used for respectively calculating the distances between the ultrasonic signal transmitting units and a first intelligent terminal positioned indoors, bearing the calculated distances in an ultrasonic notification signal and transmitting the ultrasonic notification signal to the first 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 first smart terminal has the same structure as the first smart terminal 2 of fig. 5. The specific way of calculating the distance from the wearable device by the ultrasonic signal transmitting unit is described with reference to fig. 5;
the first intelligent terminal is used for respectively analyzing the ultrasonic notification signals to obtain respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining an indoor coordinate of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinate to the cloud end;
and the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud.
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 embodiment of the invention also provides an indoor accurate positioning position monitoring method.
Fig. 6 is a flowchart of an interaction method based on indoor accurate positioning according to an embodiment of the present invention.
As shown in fig. 6, the method includes:
step 601: the ultrasonic positioning device comprises at least three ultrasonic signal transmitting units which are respectively arranged at respective fixed positions in a room and respectively transmit ultrasonic positioning signals, wherein the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference.
Step 602: the method comprises the steps that a first intelligent terminal located indoors receives ultrasonic positioning signals from at least three ultrasonic signal transmitting units respectively, the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units are calculated, the indoor coordinate of the first intelligent terminal is determined based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and the indoor coordinate of the first intelligent terminal and the attribute information of the first intelligent terminal are sent to the cloud end.
Step 603: and the second intelligent terminal acquires the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud.
In one embodiment, the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized; the first intelligent terminal calculates the indoor coordinates (x, y, z) of the first 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit; or the like, or, alternatively,
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 first 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, z) are indoor coordinates of the first 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) Is as followsCoordinates of the four ultrasonic signal transmitting units in a room; d1 is the calculated distance between the first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the first intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the first intelligent terminal and the ultrasonic signal transmitting unit.
In one embodiment, the at least three ultrasonic signal transmitting units comprise a master device, and the master device further transmits ultrasonic signals containing indoor map marks; the first intelligent terminal also receives an ultrasonic signal containing an indoor map identifier and sends the indoor map identifier to a cloud end; the second intelligent terminal also acquires an indoor map corresponding to the indoor map identification from a cloud end, and maps the indoor coordinate of the first intelligent terminal to the indoor map; the second intelligent terminal also receives ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances from the at least three ultrasonic signal transmitting units, determines an indoor coordinate of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinate of the second intelligent terminal to the indoor map, calculates a meeting path with the first intelligent terminal based on the indoor coordinate of the first intelligent terminal and the indoor coordinate of the second intelligent terminal, and displays the meeting path on the indoor map.
Fig. 7 is a flowchart of a user social method based on indoor accurate positioning according to an embodiment of the present invention. When the embodiment of the invention is applied to a social contact mode of finding people, the following working flows are adopted:
step 1, a manager manages a cloud database and imports information such as a positioning device ID and a corresponding map;
step 2, at least one positioning device in a positioning system is arranged in a certain environment, and the fixed equipment sends signals (the signals include but are not limited to positioning signals and ID signals);
step 3, the user opens the intelligent terminal positioning APP and receives a signal sent by the positioning device;
step 4, the intelligent terminal downloads an environment map matched with the ID signal of the positioning device from the cloud according to the received ID of the positioning device sent by the positioning device;
step 5, the intelligent terminal receives the positioning signals sent by the positioning device, calculates the distance Li between each signal transmitting unit and the intelligent terminal, and calculates the coordinates (x, y, z) of the intelligent terminal by using a triangulation algorithm;
step 6, the intelligent terminal matches the personal information with the coordinates, corresponds the personal information to an environment map, sends the coordinates matched with the personal information to the cloud end, and receives the position information and the social information of other terminals sent by the cloud end;
step 7, the cloud sends the received intelligent terminal coordinates matched with the personal information to other intelligent terminals in the positioning system;
step 8, other intelligent terminals in the positioning system correspond the coordinates matched with the received personal information to own environment map, so that the position and information of all the intelligent terminals in the environment are shared;
and 9, clicking the position of the intention social object in the map by the user, checking personal information of the intention social object, and sending and receiving the communication information through the APP.
The positioning system is applied to environment social contact through the workflow, an intelligent terminal user checks electronic business card information of an intention social object and clicks the intention social object, the intelligent terminal user can input characters or voice in the APP and sends the characters or voice to the intention social object through the cloud, and online communication can be changed into face-to-face offline communication according to the position of the intention social object. The user can send the position of the user to other people, and the other person can get a detailed indoor map as long as the other person gets in, so that the other person can know the specific position information of the user more quickly. Route guidance may even be provided to tell the opponent how to reach his particular location.
Based on the objects in the map, the people can also realize to communicate with the objects in the map. Based on the positioning of the articles, the method provides more detailed and intuitive article introduction for personnel and the communication of activity information such as lecture, discussion, promotion and promotion, meanwhile, the personnel also leave own opinions and suggestions for the product and can participate in activities on line, thereby achieving the purpose of communicating the personnel with the 'objects'. When the intelligent terminal is located in a preset range of some article in the map, the cloud sends information such as introduction, promotion and lecture of the article to the intelligent terminal, the intelligent terminal can also send information about the product to the cloud, and the information can be stored in the cloud and also can be sent to the corresponding article.
Based on the intelligent terminal positioning principle, the intelligent terminal enters a positioning environment, receives signals sent by the positioning device, obtains a map of the positioning environment and coordinate information of the intelligent terminal through a cloud, and the interactive objects are part of the map. When the intelligent terminal reaches a certain range around the article, the information of the article can be received. The implementation flow chart is as follows:
the application of the accurate positioning system to realize the 'communication' between people and objects is widely applied in daily life, such as exhibition halls, museums, libraries, airports, railway stations, bus stations, even factories, shopping malls and other places, the positioning between people and objects and the geographic position is realized, the mobile receiving end receives the object or the geographic position information, and the mobile receiving end can also send information to the cloud end to realize the people-object communication. For example, in an exhibition, the accurate positioning system can realize the acquisition of exhibition information by exhibition staff and the feedback of information sent to a background. In the exhibition, the exhibit is as a part of map information, and indoor positioning system passes through the map and fixes a position the exhibit, sends the exhibit information to the exhibition person, and the exhibition person just can be faster see more exhibit information, can also improve the interactive frequency between exhibition personnel and the exhibit. The exhibition system is mainly embodied in aspects of exhibition product checking, exhibition product interaction and information popularization. In an exhibition, a spectator wants to quickly see more and more accurate information of the exhibit, the number of the staff on the exhibition stand is limited, and it is often difficult to find a staff to consult detailed information; the variety of the exhibits in the exhibition is very large, and each exhibit cannot be described in detail. And the indoor positioning system can be used for accurately positioning the position of the exhibit.
Fig. 8 is a flowchart of a person communication method based on indoor accurate positioning according to an embodiment of the present invention.
When the exhibition person walks to near the exhibit, the high in the clouds is automatic to be sent the mobile intelligent terminal with the exhibit detailed information, and APP can pop out the interactive information of this exhibit automatically, if the exhibition person is interested in this exhibit, then can select to look over the detailed information of this exhibit, and these information include text introduction, video etc. the information of the acquisition exhibit that the exhibition person can be quick accurate. This also plays the self-propelling purpose of showpiece. The following structural diagram illustrates that the communication between people and objects is realized in the exhibition, and as long as the cloud detects that the mobile intelligent terminal moves to a region set by a certain commodity, the cloud can automatically send corresponding commodity detailed information to the mobile intelligent terminal.
On the basis that the indoor positioning system acquires the accurate position, the functions of information sign-in, online message leaving, activity planning and the like can be realized. The above-mentioned implementation is only a preferred embodiment of the indoor positioning system of the present invention, and is not limited to the embodiment of the present invention. The indoor positioning system provided by the invention is applied to a certain environment to promote social contact, and belongs to social contact application of the indoor positioning system in the certain environment.
In summary, the at least three ultrasonic signal transmitting units are respectively arranged at respective fixed positions in the 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 on the same circumference; the first intelligent terminal is located indoors and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to a cloud end; and the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud. According to the invention, 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 acquire and utilize the accurate position information of the intelligent terminal, the person-to-person and person-to-object communication within a certain measurable range is realized, and a convenient social contact mode based on the geographic position is provided for users.
Moreover, 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.
Moreover, the embodiment of the invention also provides a monitoring method without clock synchronization, thereby improving the use convenience.
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 (7)

1. An interactive system based on indoor accurate positioning, comprising:
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 first intelligent terminal is located indoors and used for receiving ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculating respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, determining indoor coordinates of the first intelligent terminal based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and sending the indoor coordinates of the first intelligent terminal and attribute information of the first intelligent terminal to a cloud end;
the second intelligent terminal is used for acquiring the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud end;
the at least three ultrasonic signal transmitting units comprise a main device, and the main device is also used for transmitting ultrasonic signals containing indoor map marks;
the first intelligent terminal is also used for receiving an ultrasonic signal containing an indoor map identifier and sending the indoor map identifier to the cloud end;
the second intelligent terminal is also used for acquiring an indoor map corresponding to the indoor map identification from a cloud end and mapping the indoor coordinate of the first intelligent terminal to the indoor map;
the attribute information of the first intelligent terminal is user electronic business card information of the first intelligent terminal or exhibit information of the first intelligent terminal;
the second intelligent terminal is used for establishing a wireless communication link with the first intelligent terminal based on the electronic business card data of the first intelligent terminal and sending social information to the first intelligent terminal based on the wireless communication link; or the second intelligent terminal is used for displaying the exhibit information of the first intelligent terminal.
2. The indoor precise positioning-based interactive system as claimed in claim 1,
the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized;
a first smart terminal for calculating indoor coordinates (x, y, z) of the first smart 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit.
3. The indoor precise positioning-based interactive system as claimed in claim 1,
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;
a first intelligent terminal for calculating indoor coordinates (x, y, z) and r0 based on the following formulas:
[(x1-y)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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the first intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the first intelligent terminal and the ultrasonic signal transmitting unit.
4. The indoor precise positioning-based interactive system as claimed in claim 1,
the second intelligent terminal is located indoors, receives ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances from the at least three ultrasonic signal transmitting units, determines an indoor coordinate of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinate of the second intelligent terminal to the indoor map, calculates a meeting path with the first intelligent terminal based on the indoor coordinate of the first intelligent terminal and the indoor coordinate of the second intelligent terminal, and displays the meeting path on the indoor map.
5. An interaction method based on indoor accurate positioning is characterized by comprising the following steps:
at least three ultrasonic signal transmitting units which are respectively arranged at respective fixed positions in a room respectively transmit ultrasonic positioning signals, wherein the at least three ultrasonic signal transmitting units are not on the same straight line and the same circumference;
the method comprises the steps that a first intelligent terminal located indoors receives ultrasonic positioning signals from at least three ultrasonic signal transmitting units respectively, the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units are calculated, the indoor coordinate of the first intelligent terminal is determined based on the respective distances between the first intelligent terminal and the at least three ultrasonic signal transmitting units, and the indoor coordinate of the first intelligent terminal and attribute information of the first intelligent terminal are sent to a cloud end;
the second intelligent terminal acquires the indoor coordinates of the first intelligent terminal and the attribute information of the first intelligent terminal from the cloud;
the at least three ultrasonic signal transmitting units comprise a main device, and the main device also transmits an ultrasonic signal containing an indoor map identifier;
the method comprises the steps that a first intelligent terminal receives an ultrasonic signal containing an indoor map identifier and sends the indoor map identifier to a cloud end;
the second intelligent terminal acquires an indoor map corresponding to the indoor map identification from a cloud end, and maps the indoor coordinate of the first intelligent terminal to the indoor map;
the attribute information of the first intelligent terminal is user electronic business card information of the first intelligent terminal or exhibit information of the first intelligent terminal;
the second intelligent terminal establishes a wireless communication link with the first intelligent terminal based on the electronic business card data of the first intelligent terminal, and sends social information to the first intelligent terminal based on the wireless communication link; or the second intelligent terminal displays the exhibit information of the first intelligent terminal.
6. The indoor precise positioning-based interactive method according to claim 5,
the number of the ultrasonic signal transmitting units is three, the ultrasonic signal transmitting units are time-synchronized, and the first intelligent terminal and the ultrasonic signal transmitting units are time-synchronized; the first intelligent terminal calculates the indoor coordinates (x, y, z) of the first 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first 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 first 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, z) are indoor coordinates of the first 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 first intelligent terminal and the first ultrasonic signal transmitting unit; d2 is the calculated distance between the first intelligent terminal and the second ultrasonic signal transmitting unit; d3 is the calculated distance between the first intelligent terminal and the third ultrasonic signal transmitting unit; d4 is the calculated distance between the first intelligent terminal and the fourth ultrasonic signal transmitting unit; r0 is the distance error caused by the time synchronization between the first intelligent terminal and the ultrasonic signal transmitting unit.
7. The indoor precise positioning-based interactive method according to claim 5,
the second intelligent terminal also receives ultrasonic positioning signals from the at least three ultrasonic signal transmitting units respectively, calculates respective distances from the at least three ultrasonic signal transmitting units, determines an indoor coordinate of the second intelligent terminal based on the respective distances from the at least three ultrasonic signal transmitting units, maps the indoor coordinate of the second intelligent terminal to the indoor map, calculates a meeting path with the first intelligent terminal based on the indoor coordinate of the first intelligent terminal and the indoor coordinate of the second intelligent terminal, and displays the meeting path on the indoor map.
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