CN109089313B - Double-fingerprint joint positioning method and device - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
- G01S5/02—Position-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
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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
- G01S5/02—Position-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
- G01S5/0257—Hybrid positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The invention provides a double-fingerprint joint positioning method and a device, firstly, a Bluetooth mesh node is laid in an indoor area, a mesh network formed by a terminal and the Bluetooth mesh node is connected, and the indoor area to be detected is subjected to grid division; then, respectively acquiring a positioning coordinate measured by the terminal and a positioning coordinate of the network side; judging whether the coordinate calculated by the terminal side is the same as the coordinate calculated by the network side, and if so, directly outputting the coordinate; if not, the average value or weighted value of the two coordinates is calculated, and then the information of the coordinates is output. The invention not only utilizes the positioning information of the terminal side, but also utilizes the positioning information of the base station side, obtains the final positioning information by optimizing and combining the algorithm, further reduces the influence of uncertain factors such as noise, reflection and the like, and improves the positioning precision. In addition, the invention utilizes the Bluetooth mesh network, thereby not only improving the positioning precision, but also sharing the positioning information in the whole network.
Description
Technical Field
The invention relates to a positioning algorithm, in particular to a double-fingerprint positioning method combining a Bluetooth mesh technology and a traditional indoor positioning technology, which is used for greatly improving the indoor positioning precision.
Background
The precise location service can be widely applied to various fields in reality, such as the business field, the medical field, the military and the like; the high-precision position service can enable medical rescue to be more timely and accurate and save the lives of patients; the missile of the army can accurately strike enemy targets to protect the home and the country; the commercial distribution service can be more convenient and faster, and the rapid development of economy is promoted. Meanwhile, the country also gives great support to a novel position information service technology, which is an emerging research focus in the country.
Global Positioning System (GPS) is now widely used in many aspects of life. Under the outdoor environment, the GPS can provide quick and accurate positioning, and has high positioning precision and short reaction time. However, in an indoor environment, due to factors such as shielding of buildings and absorption of electromagnetic waves, the positioning accuracy of the GPS is particularly poor, and it is not good to provide a convenient location service for people. Therefore, an indoor positioning technology is generated, various ibeacon nodes are arranged in an indoor environment, and the nodes can be communicated with terminals such as mobile phones and the like so as to acquire the positions of the terminals and provide quick and real-time position service for users. For example: in a large-scale shopping mall with multiple floors and large floor area, ibeacon nodes with proper quantity are arranged, the system can completely determine the position of a user through a terminal, and the user can also see the real-time position of the user so as to conveniently reach the destination which the user wants to go according to a map.
The prior art is divided into two types, one is terminal side positioning, a terminal is used for receiving broadcast signals of each ibeacon node, then RSSI (received signal strength indicator) or channel fingerprint is obtained according to the received signals, and then self position information is obtained through various positioning algorithms; the other is base station side positioning, the terminal transmits broadcast messages, the adjacent base stations transmit the received signals to the server, and the server calculates the position of the terminal.
The prior art has the following disadvantages:
1. the precision is poor, the precision of the positioning of the terminal side is usually more than 3 meters at present, and the actual application requirements cannot be met; the base station side positioning has very limited positioning accuracy because only the adjacent base station obtains the broadcast message.
2. The information can be obtained only by the terminal side or the base station side;
3. it is difficult to realize the full-network tracking of the object.
Disclosure of Invention
The invention provides a double-fingerprint joint positioning method for positioning by combining terminal side positioning and network side positioning, which aims to solve the problems in the prior art.
The invention adopts the following technical scheme:
a double-fingerprint joint positioning method comprises the following steps:
ST 1: laying a Bluetooth mesh node in an indoor area, establishing connection between a terminal and a mesh network formed by the Bluetooth mesh node, and performing mesh division on the indoor area to be detected;
ST 2: the method comprises the steps that information of at least one Bluetooth mesh node received by a collection terminal in each grid is transmitted to a remote processor, and a terminal side position fingerprint database is established, wherein the terminal side position fingerprint database comprises the corresponding relation between the position information of each grid and the information of at least one Bluetooth mesh node received by the terminal in the grid;
ST 3: when an acquisition terminal is in each grid, broadcast information is sent outwards, at least one Bluetooth mesh node receives information sent by the terminal and ACK response information of the acquisition terminal to the Bluetooth mesh node and transmits the information to a remote server, and then a network side position fingerprint database is established, wherein the network side position fingerprint database comprises the corresponding relation between the position information of the grid where the terminal is located and the information received by the at least one Bluetooth mesh node which receives the information sent by the terminal;
ST 4: when the equipment to be tested is located at a certain position of an indoor area to be tested, receiving information of at least one Bluetooth mesh node, analyzing the information, and calculating terminal side coordinates of the equipment to be tested through a position fingerprint positioning algorithm;
meanwhile, the equipment to be tested sends broadcast information to the outside, at least one Bluetooth mesh node receives the information sent by the equipment to be tested and ACK response information of the equipment to be tested to the Bluetooth mesh node, then the information is transmitted to a remote server, and then the information is analyzed and the network side coordinate of the equipment to be tested is calculated through a position fingerprint positioning algorithm;
ST 5: judging whether the coordinate calculated by the terminal side is the same as the coordinate calculated by the network side, and if so, directly outputting the coordinate; if not, the average value or weighted value of the two coordinates is calculated, and then the information of the coordinates is output.
In ST2 and ST3, the information of the bluetooth mesh node received by the acquisition terminal and the information sent by the terminal received by the bluetooth mesh node both at least include RSSI information of the signal.
The positioning algorithm comprises KN, KNN, WKNN and bayer positioning methods.
In ST5, the output coordinate information includes the positioning coordinates of the terminal to be measured and the accumulated error distance.
A double-fingerprint combined positioning device comprises at least one Bluetooth gateway arranged in a region to be detected, a terminal in communication connection with the Bluetooth gateway and a server, wherein the server is connected with a mobile client and a PC client.
The invention has the beneficial effects that: the invention not only utilizes the positioning information of the terminal side, but also utilizes the positioning information of the base station side, obtains the final positioning information by optimizing and combining the algorithm, further reduces the influence of uncertain factors such as noise, reflection and the like, and improves the positioning precision. In addition, the invention utilizes the Bluetooth mesh network, thereby not only improving the positioning precision, but also sharing the positioning information in the whole network.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Location fingerprinting is a mature existing location technology, and the main utilized indicator is received signal strength, i.e., RSSI. The invention mainly applies the position fingerprint positioning method to position. According to the different of the positioning end, the Bluetooth positioning mode is divided into terminal side positioning and network side positioning. The method combines the terminal side positioning and the network side positioning to obtain more accurate positioning, and is the double-fingerprint combined positioning of the invention.
The basic working principle of the double-fingerprint joint positioning method is that terminal side fingerprint positioning and mesh side fingerprint positioning are combined for use, so that positioning accuracy is improved. The bluetooth module mainly refers to a node of a bluetooth mesh network. In brief, the terminal can detect the information transmitted by a plurality of Bluetooth mesh nodes, and the RSSI is estimated and then calculated; in addition, the Bluetooth mesh node can also receive a mobile phone signal, transmits the mobile phone signal to the server through a mesh transmission protocol, combines calculation results of the mobile phone signal and the server, optimizes the calculation results, and can reduce positioning estimation errors.
The system components of the terminal side positioning and the network side positioning respectively comprise terminal equipment, a Bluetooth mesh node, a local area network, a remote server and the like.
The positioning process of the double-fingerprint positioning method provided by the invention is as follows:
(1) preparing: hardware equipment such as a Bluetooth mesh node, a Bluetooth gateway and the like is laid in an indoor area to be positioned, and the acquisition terminal is connected with an indoor Bluetooth mesh network through start configuration, namely, GATT broadcast information and the like. Setting a reference coordinate point, establishing a coordinate system, and then performing grid division on an area to be positioned according to a certain size. After division, each grid represents a position, no matter which position of the grid the acquisition terminal is at, the acquisition terminal is regarded as the position of the grid, and the smaller the grid division is, the higher the precision is; the larger the division, the lower the accuracy. The indoor area is the whole activity area of the acquisition terminal, such as a supermarket, a parking lot and the like.
(2) Establishing a terminal side position fingerprint database: the method comprises the steps that an experimenter holds an acquisition terminal to enter each grid for sampling in sequence, the acquisition terminal receives broadcast information of at least one Bluetooth mesh node in the grid, effective information such as RSSI (received signal strength indicator) and MAC (media access control) address is analyzed, and position information of the grid and the analyzed effective information are transmitted to a cloud server or a background or a far-end server to be used for establishing a terminal side position fingerprint database; or directly transmitting the information to a server and then analyzing the information. The stored database information is the corresponding relation between the position information of the grid and the analyzed effective information.
(3) Establishing a network side position fingerprint database: the laboratory technician in each grid sends broadcast information to the outside through a handheld acquisition terminal, at least one Bluetooth mesh node receives the information sent by the terminal and the ACK response information of the acquisition terminal to the Bluetooth mesh node, then the position information of the grid and the information received by the at least one Bluetooth mesh node are transmitted to a remote server or a background server or a cloud server, the server analyzes effective information such as RSSI and the like, and then a network side position fingerprint database is established.
After the pre-preparation items are completed, the double-fingerprint joint positioning is performed, which is specifically as follows:
(4) when the device to be tested is located at a certain position of the indoor area to be tested, the device to be tested is allocated to the network key of the device to be tested through the mesh network by starting configuration and GATT bridge information broadcasted by the Bluetooth mesh node, and then the device to be tested enters the mesh network to start positioning of the device to be tested.
And (4.1) after receiving the information broadcast by the mesh node, the device to be tested acquires the current position of the device to be tested through certain calculation.
Specifically, after receiving broadcast information of at least one mesh node, a corresponding APP installed on a terminal of the device to be tested performs a series of decryption on the received information through a public key and a private key, extracts effective information such as RSSI (received signal strength indicator) and MAC (media access control) addresses from a corresponding data format and transmits the effective information to a value server, and the server calculates terminal side coordinates of the device to be tested by combining a pre-established terminal side position fingerprint database and an existing position fingerprint positioning algorithm.
And (4.2) the device to be tested sends a broadcast message and an ACK confirmation response to each node of the mesh network, at least one Bluetooth mesh node receives the broadcast message and the ACK response sent by the device to be tested and then transmits the broadcast message and the ACK response to a remote server, the server receives the message of each mesh node, the server can extract the messages such as the MAC address and the RSSI of the terminal through a series of analysis operations, and then the network side coordinates of the device to be tested are calculated by combining a pre-established network side position fingerprint database and the existing position fingerprint positioning algorithm.
(5) And comparing the positioning results of the terminal side coordinate and the network side coordinate, directly outputting the result if the positioning results are completely the same, and calculating an average value, a weighted value and the like if the positioning results are different. The average value is obtained by adding each coordinate value of the two coordinates and then dividing by 2, the weighted value is obtained by multiplying each coordinate by a weight and then adding the multiplied values to obtain the weighted value, and further obtain the coordinate value, for example, one coordinate is x, the other coordinate is y, and the obtained weighted coordinate value may be: 1/3x +2/3 y. And after the positioning coordinates are calculated, the positioning coordinates are directly output to any equipment needing the positioning information.
ST 5: judging whether the terminal side coordinate and the network side coordinate are the same, and if so, directly outputting the terminal side coordinate and the network side coordinate; if not, the average value or weighted value of the two coordinates is calculated, the information of the coordinates is output, and the accumulated error distance can also be output. The accumulated error record is: distance between output coordinates and coordinates before averaging:
wherein, X1, Y1, Z1 and X2, Y2, Z2 are coordinate values of the output coordinate and the coordinate before output, respectively.
The location fingerprint positioning algorithm of the invention can comprise KN, KNN, WKNN, bayer positioning methods.
The invention not only utilizes the positioning information of the terminal side, but also utilizes the positioning information of the base station side, obtains the final positioning information by optimizing and combining the algorithm, further reduces the influence of uncertain factors such as noise, reflection and the like, and improves the positioning precision. In addition, the invention utilizes the Bluetooth mesh network, thereby not only improving the positioning precision, but also sharing the positioning information in the whole network.
In the invention, the position information of the object can be remotely acquired, so that a manager can master the position and the motion track of the object at any time so as to track the object. For example, a hotel manages the cleaning, the real-time position and the motion track of the cleaning can be accurately obtained by using the invention, and the position and the motion track of the valuables can be detected in real time for the management of the valuables.
The invention also provides a device applying the method, which comprises a plurality of Bluetooth mesh nodes arranged in the space, and a terminal and a server which are in communication connection with the Bluetooth gateway, wherein the server is connected with the mobile client and the PC client. The terminal comprises an acquisition terminal for establishing a database and a terminal device to be detected for positioning.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (5)
1. A double-fingerprint joint positioning method is characterized by comprising the following steps:
ST 1: laying a Bluetooth mesh node in an indoor area, establishing connection between a terminal and a mesh network formed by the Bluetooth mesh node, and performing mesh division on the indoor area to be detected;
ST 2: the method comprises the steps that information of at least one Bluetooth mesh node received by a collection terminal in each grid is transmitted to a remote processor, and a terminal side position fingerprint database is established, wherein the terminal side position fingerprint database comprises the corresponding relation between the position information of each grid and the information of at least one Bluetooth mesh node received by the terminal in the grid;
ST 3: when an acquisition terminal is in each grid, broadcast information is sent outwards, at least one Bluetooth mesh node receives information sent by the terminal and ACK response information of the acquisition terminal to the Bluetooth mesh node and transmits the information to a remote server, and then a network side position fingerprint database is established, wherein the network side position fingerprint database comprises the corresponding relation between the position information of the grid where the terminal is located and the information received by the at least one Bluetooth mesh node which receives the information sent by the terminal;
ST 4: when the equipment to be tested is located at a certain position of an indoor area to be tested, receiving information of at least one Bluetooth mesh node, analyzing the information, and calculating terminal side coordinates of the equipment to be tested through a position fingerprint positioning algorithm;
meanwhile, the equipment to be tested sends broadcast information to the outside, at least one Bluetooth mesh node receives the information sent by the equipment to be tested and ACK response information of the equipment to be tested to the Bluetooth mesh node, then the information is transmitted to a remote server, and then the information is analyzed and the network side coordinate of the equipment to be tested is calculated through a position fingerprint positioning algorithm;
ST 5: judging whether the coordinate calculated by the terminal side is the same as the coordinate calculated by the network side, and if so, directly outputting the coordinate; if not, the average value or weighted value of the two coordinates is calculated, and then the information of the coordinates is output.
2. The method of claim 1, wherein the method comprises: in ST2 and ST3, the information of the bluetooth mesh node received by the acquisition terminal and the information sent by the terminal received by the bluetooth mesh node both at least include RSSI information of the signal.
3. The method of claim 1, wherein the method comprises: the positioning algorithm comprises KN, KNN, WKNN and bayer positioning methods.
4. The method of claim 1, wherein the method comprises: in ST5, the output coordinate information includes the positioning coordinates of the terminal to be measured and the accumulated error distance.
5. An apparatus applying the dual-fingerprint joint positioning method as claimed in any one of claims 1 to 4, wherein: the system comprises at least one Bluetooth gateway arranged in a region to be tested, and an acquisition terminal and a server which are in communication connection with the Bluetooth gateway, wherein the server is connected with a mobile client and a PC client.
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| US8805865B2 (en) * | 2012-10-15 | 2014-08-12 | Juked, Inc. | Efficient matching of data |
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