CN109163725A - A kind of ship cabin indoor locating system and localization method - Google Patents
A kind of ship cabin indoor locating system and localization method Download PDFInfo
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- CN109163725A CN109163725A CN201811069680.7A CN201811069680A CN109163725A CN 109163725 A CN109163725 A CN 109163725A CN 201811069680 A CN201811069680 A CN 201811069680A CN 109163725 A CN109163725 A CN 109163725A
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- China
- Prior art keywords
- module
- localizer beacon
- base station
- communication base
- cabin
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention discloses a kind of ship cabin indoor locating system and localization methods, are laid in the indoor localizer beacon in cabin by broadcast frame and send the information such as ID, strength of transmitted signals value；Personnel carry positioning label and enter cabin, and the bluetooth module scanning for positioning label receives the ID and received signal strength indication RSSI of multiple localizer beacons, are then wirelessly issued these information and positioning tag ID by LoRa module；Communication base station receives the information that positioning label issues and is then forwarded to location-server, the distance value between positioning label and each localizer beacon is calculated by received signal strength indication and strength of transmitted signals value, positioning label is obtained in the indoor location information in cabin by location algorithm later.The present invention can it is high in dust concentration, vibration is obvious, noise is big, stable operation in adverse circumstances full of paint volatile matter, and obtains higher positioning accuracy, can satisfy the location requirement in construction environment.
Description
Technical field
The present invention relates to indoor positioning technologies fields.It is more particularly related to a kind of suitable for construction environment
Ship cabin indoor locating system and localization method.
Background technique
Large ship cabin indoor construction is related to the operations such as rigging up and debugging, polishing, paint, these operations be all much
High-altitude, closed in space or small space carry out, and the personnel for participating in operation are more, are distributed in the indoor each corner in cabin, this is to safety
Management work brings very big challenge.Cabin indoor construction, construction environment are complicated, and sight is blocked more, and lighting condition is poor, by security official
Inspection visually observes, it is difficult to find the problem in time.Shipyard pacifies ring portion door, and there is an urgent need to new technological means to assist safety management.
Indoor positioning technologies can provide the real-time accurate position of cabin area construction personnel by the real-time positioning to personnel for security control person
It sets, security control person can grasp in real time by monitoring room computer, hand-held plate or smart phone and be distributed in different decks not
With the accurate location of cabin indoor occupant, the powerful measure for security control of can yet be regarded as.
Although widely and mature as the application of the satellite positioning tech of representative using GPS and Beidou.And for metal knot
The cabin indoor environment of structure causes it that can not be applied to cabin indoor positioning since satellite-signal can not penetrate.Construction environment in cabin
More complicated compared to outdoor environment, the scaffold that various equipment and construction are built in cabin is all metal material, and metal is to electricity
The shielding of magnetic wave and reflex are very strong, this results in the more outdoor propagation distance of signal to greatly shorten, multipath effect is obvious.Furthermore
Construction State, environment constantly change, very high to the robustness requirement of positioning system, while the dismounting of positioning device is conveniently fast
It is prompt.This results in such as UWB ultra wide band, WiFi fingerprint, inertial navigation, and the effect in common building object such as RFID region detection is good
Good location technology is in cabin using by very big restriction.
Summary of the invention
It is an object of the present invention to provide a kind of ship cabin indoor locating system suitable for construction environment, system tools
Have the advantages that implementation cost is low, deployment is simple and fast, equipment is convenient for disassembly and assembly, while higher Real-Time Positioning can be obtained.
To achieve the goals above, the present invention provides a kind of ship cabin indoor locating system suitable for construction environment,
It is characterized in that the system comprises:
Multiple localizer beacons, the multiple localizer beacon are fixed on appropriate location in cabin, are periodically sent out by broadcast frame
Status information is sent, the status information includes localizer beacon ID, strength of transmitted signals value, transmit cycle, battery capacity；
Position label, construction personnel wears positioning label, the multiple localizer beacon ID of positioning tag scan reception and
Received signal strength indication RSSI, and by by localizer beacon ID and received signal strength indication RSSI with positioning label ID together with
Wirelessly it is periodically sent out；
Communication base station receives positioning label and issues information, and is transmitted to location-server by wire/wireless mode；
Location-server, location-server for data storage and position resolve, be stored with localizer beacon ID and
Corresponding position coordinates and strength of transmitted signals value, the location-server receive the information of the communication base station forwarding, will believe
Localizer beacon ID, received signal strength indication RSSI in breath and positioning label self ID parse, and by receiving
The ID of localizer beacon inquires the position coordinates of corresponding localizer beacon, passes through received signal strength indication RSSI and strength of transmitted signals value
The distance value between positioning label and each localizer beacon is calculated, positioning label is obtained in the indoor position in cabin by location algorithm later
Confidence breath, location information be both used as real-time information processing to application end, also in the server as historical information storage；
Cloud platform, store user information and each user project information, project information include project name, position,
Used equipment and number, the use of equipment and operating condition, electronic map, so as to user equipment and electronic map into
Row maintenance and management.
Further, the system also includes:
Inspection terminal is disposed, for the smart phone or tablet computer for supporting Bluetooth4.0, is used to complete positioning letter
Target deployment and inspection work and the deployment of generation and inspection file are wirelessly uploaded to the cloud platform；The deployment
Inspection terminal scans and receives the broadcast frame of the localizer beacon of cabin interior administration, and by the status information of received localizer beacon,
Including localizer beacon ID, strength of transmitted signals value, sending cycle, battery capacity, it is wirelessly uploaded to the cloud platform；Institute
Strength of transmitted signals value, sending cycle that deployment inspection terminal is used to update the localizer beacon of cabin interior administration are stated, and will be updated
Wirelessly it is uploaded to the cloud platform；The deployment inspection terminal is used to add and delete the positioning letter of cabin interior administration
Mark, and update can be wirelessly uploaded to the cloud platform.
Further, application end refers to any smart phone, iPad, computer equipped with web browser, and application end passes through
Wire/radio network connects server and cloud platform, is accessed and is positioned by web browser using specified username and password
Server and cloud platform, application end realizes user oriented various functions, such as real time position is shown, positioning device management.
Further, the localizer beacon includes:
Radio-frequency module, the radio-frequency module include DA14580 Bluetooth chip and peripheral circuit；
Encrypting module, the encrypting module include encryption chip and peripheral circuit, and the encrypting module and radio frequency chip connect
It connects, the configuration parameter for anti-tamper radio frequency chip；
Lithium battery module, the lithium battery module are each module for power supply；
Power management module, the power management module are used for battery capacity management.
Further, the positioning label includes:
Bluetooth module, the bluetooth module include CC2640 Bluetooth chip and peripheral circuit；
LoRa module, the LoRa module include SX1278LoRa chip and peripheral circuit；
Accelerometer module, the accelerometer module include accelerometer and peripheral circuit, the accelerometer module
It is connect with bluetooth module, is in movement or stationary state for monitoring positioning label；
Lithium battery module, the lithium battery module are each module for power supply；
Power management module, the power management module are used for battery capacity and management of charging and discharging.
Further, the workflow of the positioning label are as follows:
Configuration positioning tag parameter first.It is on location-server that the parameter setting for positioning label is good, by communication base station
It is set as configuration mode, when the continuous flashing light of label, indicates that configuration is completed；
After the completion of positioning tag parameter configuration, the microcontroller of CC2640 Bluetooth chip monitors the power management module
Electricity monitor situation it is whether normal, and monitor CC2640 Bluetooth chip connect with accelerometer module it is whether normal；
If the electricity monitoring situation of electricity monitoring module is normal, and CC2640 Bluetooth chip is connect with accelerometer module
Normally, then microcontroller enters operating mode, otherwise enters error pattern；
When microcontroller enters operating mode, LoRa module scans ambient signals at this time, when receiving communication base station
After broadcast singal, microcontroller sends instructions, and positioning label enters working condition；
After entering error pattern, microcontroller passes through radio-frequency module periodic report error message；
After positioning label enters working condition, if accelerometer module monitors remain static to its own,
Exactly entirely positioning label remains static, then microcontroller extends the time of the signal transmitting and receiving of bluetooth module and LoRa module
Interval；If accelerometer module monitors are kept in motion to its own, microcontroller is by bluetooth module and LoRa module
The time interval of signal transmitting and receiving restore normal, the broadcast singal that bluetooth module is sent by normal cycle Scan orientation beacon and survey
Received signal strength is measured, LoRa module sends out the received broadcast singal of bluetooth module and received signal strength and affiliated tag ID
Give communication base station.
Further, the communication base station includes:
The first radio-frequency module of communication base station, first radio-frequency module of communication base station includes SX1278LoRa chip and periphery
Circuit；
The second radio-frequency module of communication base station, second radio-frequency module of communication base station includes SX1278LoRa chip and periphery
Circuit；
PoE module, the PoE module and first radio-frequency module of communication base station and the second radio-frequency module of communication base station connect
It connects, ethernet communication and power supply is provided.
Another object of the present invention is to provide a kind of installations of ship cabin indoor locating system suitable for construction environment
Method, the positioning system have the advantages that implementation cost is low, deployment is simple and fast, equipment is convenient for disassembly and assembly, at the same can obtain compared with
High Real-Time Positioning.
To achieve the goals above, technical scheme is as follows: in a kind of ship's space suitable for construction environment
The installation method of positioning system, it is characterised in that the installation method the following steps are included:
Step 1: laying localizer beacon, the periodic broadcast of localizer beacon according to certain altitude and density in ship's space
Wireless signal covers entire cabin.Each localizer beacon has unique identity ID and deployed position, these information are recorded simultaneously
It is temporarily stored in deployment inspection terminal；
Step 2: after the completion of localizer beacon deployment, the deployment information being stored in deployment inspection terminal being uploaded into cloud and is put down
Platform generates the position paper and configuration file of localizer beacon in cloud platform；
Step 3: in cabin, indoor suitable position arranges a certain number of communication base stations, and the signal covering of communication base station is entire
Cabin, communication base station access network, by wired or wirelessly；
Step 4: installation location-server realizes location-server and communication base station network interworking, by the position of localizer beacon
It sets file and configuration file is downloaded from cloud platform, then upload to location-server；
Step 5: installation application end realizes the network interworking between application end and location-server.
Another object of the present invention is to provide a kind of positioning of ship cabin indoor locating system suitable for construction environment
Method, the localization method have the advantages that implementation cost is low, deployment is simple and fast, equipment is convenient for disassembly and assembly, at the same can obtain compared with
High Real-Time Positioning.
To achieve the goals above, technical method of the invention is as follows: in a kind of ship's space suitable for construction environment
The localization method of positioning system, it is characterised in that the localization method the following steps are included:
Step 1: localizer beacon is laid in cabin according to certain height and density, configures strength of transmitted signals appropriate
Value, identity ID and signal sending cycle send broadcast singal to surrounding；
Step 2: the personnel for carrying positioning label enter cabin, and the work that issues that positioning label receives communication base station refers to
It enables, hence into working condition, positions label and receive the localizer beacon broadcast frame of surrounding, and obtain localizer beacon ID and receive letter
Number intensity value, a precise positioning need at least to obtain the ID and received signal strength indication of three localizer beacons, the positioning label
Localizer beacon ID and its received signal strength indication and positioning label self ID are sent to communication base station by wireless signal；
Step 3: communication base station receives the signal of positioning label, and forwards it to location-server；
Step 4: location-server receives the information from communication base station, saves according in localizer beacon ID query service device
Localizer beacon location information and strength of transmitted signals value, it is fixed to be calculated by received signal strength indication and strength of transmitted signals value
Then position label obtains positioning label by location algorithm and believes in the indoor position in cabin to the distance between each localizer beacon value
Breath.
The present invention is include at least the following beneficial effects:
1. existing indoor locating system is applied to, construction environment implementation cost in cabin is high, dismounting is inconvenient, and the application
Middle localizer beacon uses Bluetooth Low Energy technology, and power consumption is ultralow, using lithium battery power supply, does not need additionally to dispose power supply line,
Easy for installation, construction cost is low, and cruise duration is long, and maintenance cost is low.
2. the bluetooth beacon locating scheme similar with this programme since its beacon state can not monitor, therefore is
System poor robustness, it is difficult in maintenance.And this programme is equipped with deployment inspection terminal, is believed by the broadcast that scanning receives localizer beacon
Breath, the low electricity of localizer beacon, damage, operation irregularity can find to be maintained in time, and network stabilization is high, maintainable good.
3. the covering power of network, the communication positioned between label and communication base station uses LoRa technology, and communications band exists
470-510Hz, the reachable -148dBm of signal receiving sensitivity, signal penetration capacity is strong, long transmission distance.
4. network capacity, double-channel communication base station, a communication base station are working there are two different frequency points simultaneously, can
Reply high concurrent access well avoids signal from receiving and sends delay.
5. the present invention can it is high in dust concentration, vibration is obvious, stable operation in construction environment full of paint volatile matter,
And higher positioning accuracy is obtained, meet quick despatch demand.
Detailed description of the invention
Fig. 1 is system structure of the invention figure；
Fig. 2 is positioning schematic of the present invention；
Fig. 3 is communication base station structure chart of the present invention；
Fig. 4 is positioning label construction figure of the present invention；
Fig. 5 is localizer beacon structure chart of the present invention；
Fig. 6 is ship cabin indoor positioning deployment scheme of the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
As shown in Figure 1, the present invention provides a kind of indoor locating system, comprising:
Multiple localizer beacons, multiple localizer beacons are fixed in cabin, the arrangement of localizer beacon: multiple localizer beacons are by cloth
It sets in the required space positioned, can be on ceiling, furred ceiling or bulkhead, the purpose is to allow its radio broadcasting signal to cover
Its installation site neighboring area is covered, according to the characteristic and installation experience of Bluetooth signal, 3~5 meters of general vertical height, horizontal interval
3~6 meter amperes fill more satisfactory.Packing density is higher, and cost is higher, its certain positioning accuracy is also higher.The localizer beacon is logical
Cross the information such as broadcast frame periodicity sending self ID, signal emissive porwer, signal transmit cycle and battery capacity.The positioning letter
Target position be it is fixed, be fixed some indoor point of cabin, this point is labeled in deployment inspection terminal electronic map on,
Deployment information is uploaded into cloud platform again.Position paper and configuration file are generated by cloud platform, is positioned such that the position letter of beacon
Breath determines that.Position paper and configuration file that cloud platform generates are uploaded into location-server again.Thus localizer beacon can
It calculates and is determined by the location information of the referenced localizer beacon of location-server inquiry as the reference point of spatial position
Relative position between the construction personnel and localizer beacon of position, thus the position of construction personnel can be obtained by location algorithm
Coordinate.In addition, the localizer beacon power consumption is extremely low, it is small in size using lithium battery power supply, thus its installation maintenance is simple.Positioning letter
Mark can periodically broadcast oneself ID, signal emissive porwer, signal transmit cycle and battery level information etc. to surrounding space,
These information are received and displayed on the terminals by deployment inspection terminal.If the information in certain localizer beacon broadcast frame indicates the positioning
Beacon operation irregularity or low battery, the then position that inspector can find the localizer beacon by disposing inspection terminal are tieed up
Shield.Localizer beacon has status indicator lamp, can also judge the localizer beacon by observing the localizer beacon indicator light information
It is whether working properly.Localizer beacon parameter is configurable, and parameter configuration can be carried out by deployment inspection terminal and (is believed as sent
Number intensity value and period).
Label is positioned, is carried by entering the indoor construction personnel in cabin, the positioning tag scan receives multiple localizer beacons
ID and received signal strength indication (RSSI), and wirelessly issue.Positioning tag parameter is configurable, and can be passed through
Configuration software realizes the configuration to its parameter in cloud platform or location-server, these parameters include that different working modes are (normal
Or suspend mode) signal transmit cycle, single maximum reports localizer beacon number, functions of indicator light etc., after parameter configuration is complete, passes through communication
It is handed down to positioning label in base station.Position the ability that there is label scanning to receive localizer beacon broadcast.Positioning label has wireless communication
Number transmitting capacity, is sent to communication for the multiple localizer beacon information received, received signal strength indication (RSSI) and self ID
Base station.Positioning label has state-indicating function, can indicate its own working condition, such as failure, low electricity etc..Position label tool
There is sound status monitoring function, different operating modes can be taken according to the sound state of construction personnel, under motion state,
Positioning label is normal mode of operation, and 3s is to send primary information in the period；Under stationary state, positioning label is suspend mode Working mould
Formula sends primary information for the period in 10 minutes.Reach lower power consumption with this, is realized more in the case where battery capacity is limited
Long cruising ability.The form of positioning label be it is various, can be label, work card, bracelet, the various shapes such as wrist-watch are unlimited
Shape pattern, as long as realizing core function therein.
Communication base station receives ID, the received signal strength indication of multiple localizer beacons that positioning label wirelessly issues
(RSSI) and label self ID is positioned, and is forwarded by wire/wireless mode.Communication base station will be received by Ethernet
Positioning label information is transmitted to location-server.Communication base station has the function of working status indication, can show itself work shape
State maintains easily.The communication base station, as shown in Figure 3, comprising:
POE (Power over Ethernet) module for each module and peripheral circuit power supply while providing ethernet communication；
Two LoRa modules, using SX1278 chip.
SX1278 is the spread spectrum radio frequency chip that Semtech company releases, and is adjusted using the unique LoRa spread spectrum of Semtech company
Technology processed has the advantages that receiving sensitivity height, long transmission distance.
It include two SX1278 modules in communication base station.Two modules are both respectively received and are forwarded from localizer beacon
Signal, and share out the work and help one another.In this way in the case where the more signal concurrency of localizer beacon are big, signal transmission still can guarantee
Low latency can meet the scene that positioning node is more, requirement of real-time is high well.
This communication base station includes 1) aluminum alloy casing, and water proof and dust proof shatter-resistant design, degree of protection reaches IP67, be suitble to it is moist,
The high construction environment of dust concentration uses；2) it is powered using PoE for net, it is only necessary to which 1 cable solves power supply and networking issue, supplies
Electricity, up to 100 meters, reduces deployment difficulty and cost for net distance；3) the transmitting-receiving ability of double-channel base station, a base station is suitable
In two common single channel base stations, hardware cost has been saved.
The parameter of communication base station is configurable.An IP address can be configured for each communication base station, in this way communication base
Ethernet can be connected by standing；Different frequency points can be configured for each SX1278 radio-frequency module, thereby realize double-channel
Work, makes different positioning labels while accessing one of SX1278 radio-frequency module.
The positioning label is a kind of multimode positioning label of low-power consumption, which is the core mould of positioning device
Block, surface structure can there are many patterns, such as card form, label form, bracelet form, wrist-watch form.
The positioning label, as shown in Figure 4, comprising:
Power module, lithium battery；
Power management module, battery capacity and management of charging and discharging；
One bluetooth module, using CC2640 chip；
One LoRa module, using SX1278 chip.
Accelerometer module, monitoring label are in movement or stationary state；The accelerometer module and bluetooth module
Connection.
CC2640 is a chip that TI company releases for Bluetooth Low Energy application.CC2640 has peripheral hardware function abundant
It can collect, including a unique super low-power consumption microcontroller (ARM Cortex-M3).This microcontroller is very suitable to connect
External sensor is suitable also for independently collecting analog- and digital- number in the case where system rest part is in sleep pattern
According to monitoring with microcontroller profile acceleration meter the moving situation of label, in the positioning label to reach energy-efficient mesh
's.Therefore, CC2640 is very suitable to this emphasis battery of positioning label, miniature dimensions and portable equipment.
This positioning label includes 1) water proof and dust proof, and degree of protection reaches IP63；2) low-power chip, low consumption circuit are used
Design so can guarantee using duration in the case where battery capacity is extremely limited not less than two weeks.
Position the workflow of label are as follows:
Configuration positioning tag parameter first.It is on location-server that the parameter setting for positioning label is good, by communication base station
It is set as configuration mode, when the continuous flashing light of label, indicates that configuration is completed；
After the completion of positioning tag parameter configuration, the microcontroller of CC2640 monitors the electricity monitoring of the power management module
Whether situation normal, and monitor CC2640 connect with accelerometer module it is whether normal；
If the electricity monitoring situation of electricity monitoring module is normal, and CC2640 is connect normally, then with accelerometer module
Microcontroller enters operating mode, otherwise enters error pattern；
When microcontroller enters operating mode, LoRa module scans ambient signals at this time, when receiving communication base station
After broadcast singal, microcontroller sends instructions, and label card enters working condition；
After entering error pattern, microcontroller passes through radio-frequency module periodic report error message；
After positioning label enters working condition, if accelerometer module monitors remain static to its own,
Exactly entirely positioning label remains static, then microcontroller extends the time of the signal transmitting and receiving of bluetooth module and LoRa module
Interval；If accelerometer module monitors are kept in motion to its own, microcontroller is by bluetooth module and LoRa module
The time interval of signal transmitting and receiving restore normal, the broadcast singal that bluetooth module is sent by normal cycle Scan orientation beacon and survey
Received signal strength is measured, LoRa module sends out the received broadcast singal of bluetooth module and received signal strength and affiliated tag ID
Give communication base station.
The localizer beacon, as shown in Figure 5, comprising:
Power module, lithium battery；
Power management module, battery capacity management；
One bluetooth module, using DA14580 chip；
One encrypting module, anti-tamper DA14580 chip configuration parameter.
DA14580 is the super low-power consumption Bluetooth chip that Dialog Corporation releases, and size and power dissipation ratio similar chip are small, is suitble to
The closer application of compact signal transmission distance.Encryption chip can prevent from matching DA14580 chip by setting access password
The unauthorized of parameter is set to distort.
The localizer beacon includes 1) water proof and dust proof, and degree of protection reaches IP63；2) blue using lowest power consumption currently on the market
Tooth chip so can guarantee using duration in the case where battery capacity is extremely limited not less than 2 years；3) compact, weight
Gently, gluing, magnetic mounting means are had both, it is easy for installation.
The deployment inspection terminal is the intelligent hand supported 4.0 agreement of bluetooth and be mounted with configuration, deployment and inspection APP
Machine or tablet computer.
The localizer beacon deployment APP that the deployment inspection terminal installation is specially developed will be electric from cloud platform by networking
Sub- map is locally downloading, then opens electronic map, marks the installation site of localizer beacon on the electronic map, then will determine
Position beacon location information uploads to cloud platform, maps out the work to complete beacon；
The deployment inspection terminal installs the localizer beacon inspection APP specially developed, will be electric from cloud platform by networking
Sub- map and the localizer beacon information disposed are locally downloading, then open electronic map, receive localizer beacon by scanning
Broadcast message, localizer beacon it is low electricity, damage, operation irregularity can show on the electronic map, so as to find to ask in time
Topic and maintenance beacon；The localizer beacon configuration APP that the deployment inspection terminal installation is specially developed, scans positioning letter around receiving
Target broadcast frame obtains the parameters such as broadcasting frequency and the strength of transmitted signals value of corresponding localizer beacon, can be by configuring APP modification
These parameters.
The location-server, the ID and corresponding location information of storage localizer beacon simultaneously run location algorithm journey
Sequence.The location-server receives the ID for multiple localizer beacons that the communication base station issues, received signal strength indication (RSSI)
And positioning label self ID, and the location information of the localizer beacon ID Query Location beacon by receiving, believed by receiving
Number intensity value (RSSI) calculates the distance value between positioning label and each localizer beacon, obtains positioning by location algorithm later and marks
Label are in the indoor position in cabin, to obtain carrying the construction personnel position of positioning label.
Distance calculates the ranging model based on received signal strength, and electromagnetic wave is propagated in air, and signal strength is with propagating
The relationship of distance such as following formula:
P (d) indicates the signal strength at distance signal source (localizer beacon) d, P (d in formula0) indicate that distance signal source is (fixed
Position beacon) d0The signal strength at place, η indicate the communication environments factor.P (d) is exactly to position label received signal strength indication RSSI, P
(d0) can be obtained by actual measurement as reference value, η indicates that influence of the communication environments to electromagnetic wave attenuation can be obtained by experiment.Cause
This, unique unknown quantity d can be solved in formula.
According to a particular embodiment of the invention, location algorithm is as follows: location algorithm uses three side location algorithms, i.e. measurement quilt
Measuring point (positioning label) is to the distance between 3 reference points (localizer beacon) d, as long as 3 reference points are not point-blank, quilt
The position of measuring point is exactly to uniquely determine.
It is specific as follows:
Assuming that the position (x, y) of measured point (positioning label), the position (x of the i-th reference point (localizer beacon)i,yi), wherein i
=1,2,3, the distance of the i-th reference point to measured point is di, then have
D in formulai,xi,yiAll it is known quantity, measured point can be obtained by solve system of equation
The position (x, y) of (positioning label).
The location-server has the function of data-pushing, and location data is pushed to application end by HTTP, for
Tripartite developer uses.
The location-server has positioning device management function.Location-server is connected by Networks and Communications base station
It connects, receives the data of its passback.Not only having location information in these data, there are also device status informations.These equipment include positioning
Beacon, positioning label and communication base station.
The cloud platform is a comprehensive management platform.It is that each client creates an account and password on platform.Visitor
Family enters the account of oneself by account and password login cloud platform, creates project under account.Electronics is managed under each project
The facility informations such as map and localizer beacon, positioning label, communication base station, can modify, add and delete electronic map and equipment.Visitor
Any update of the family to electronic map in project and equipment, platform can generate new configuration file and ground under the project automatically
Map file.Location-server is downloaded and uploaded to new configuration file and map file by client, can just make to update in local system
System comes into force.
The system installation procedure is as follows:
Step 1: laying localizer beacon, the periodic broadcast of localizer beacon according to certain altitude and density in ship's space
Wireless signal covers entire cabin.Each localizer beacon has unique identity ID and deployed position, these information are recorded simultaneously
It is temporarily stored in deployment inspection terminal.
Step 2: after the completion of localizer beacon deployment, the deployment information being stored in deployment inspection terminal being uploaded into cloud and is put down
Platform generates the position paper and configuration file of localizer beacon in cloud platform.
Step 3: in cabin, indoor suitable position arranges a certain number of communication base stations, and the signal covering of communication base station is entire
Cabin.Communication base station accesses network, by wired or wirelessly.
Step 4: installation location-server realizes location-server and communication base station network interworking.By the position of localizer beacon
It sets file and configuration file is downloaded from cloud platform, then upload to location-server.
Step 5: installation application end realizes the network interworking between application end and location-server.
The positioning principle of this system is as shown in Figure 2.The specific method is as follows for it:
Step 1: localizer beacon is laid in cabin according to certain height and density, configures strength of transmitted signals appropriate
Value, identity ID and signal sending cycle send broadcast singal to surrounding.
Step 2: the construction personnel for carrying positioning label enters cabin, and what positioning label received communication base station issues work
Instruction, hence into working condition.It positions label and receives the localizer beacon broadcast frame of surrounding, and obtain localizer beacon ID and reception
The information such as signal strength indication (RSSI).Precise positioning needs at least to obtain the ID and received signal strength of three localizer beacons
It is worth (RSSI).Localizer beacon ID and its received signal strength indication (RSSI) and positioning label self ID are passed through nothing by the positioning label
Line signal is sent to communication base station.
Step 3: communication base station receives the signal of positioning label, and forwards it to location-server.
Step 4: location-server receives the information from communication base station, saves according in localizer beacon ID query service device
Localizer beacon location information and strength of transmitted signals value, pass through received signal strength indication (RSSI) and strength of transmitted signals value meter
Positioning label is calculated to the distance between each localizer beacon value, is then determined by location algorithm (such as three side location algorithms)
Location information is distributed to specified application program in the indoor location information in cabin by position label.
The system supports the management function of localizer beacon.Whether the working condition of localizer beacon normally directly affects entirely
The stability of positioning system work, in systems, each localizer beacon can carry out information exchange with deployment inspection terminal.It has
Body running process is as follows:
Step 1: after localizer beacon is configured, by information such as ID, transmitting signal strength, signal transmit cycle, battery capacities
It is sent out by the forms of broadcasting.
Step 2: patrol officer carries hand-held deployment inspection terminal and enters cabin, and deployment inspection terminal receives positioning letter
It is after marking information, its is displayed on the terminals out, and cloud platform can be uploaded to.
Step 3: computer, smart phone or the tablet computer arbitrarily networked log in cloud platform by web browser, can be with
Check the situation of localizer beacon.
Embodiment, as shown in fig. 6, cabin 1,2,3 and 4 is typical container cabin cabin.According to the size in cabin
And layout, communication base station are deployed in cabin 1；Localizer beacon is deployed in cabin 1,2,3 and 4, and the mode of deployment is according to cabin
The difference of size and shape and it is different.Construction personnel carries positioning label and enters cabin, positions tag scan and receives surrounding
The broadcast message of localizer beacon, and obtain its ID and received signal strength indication (RSSI).Then it by self ID value and receives
Localizer beacon relevant information is sent to the communication base station in cabin 1 together.Communication base station is forwarded information by wire/radio network
To location-server.The position of construction personnel is resolved and is sent to application end by wire/radio network by location-server.
Maintenance personnel carries deployment inspection terminal and enters cabin, and cabin inspection one by one, deployment inspection terminal constantly scans and receives week
Localizer beacon broadcast message is enclosed, newest beacon status information will be recorded by terminal.After completing inspection, patrol officer can
Status information is uploaded into cloud platform by wire/radio network.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be adapted for various suitable the field of the invention completely, for those skilled in the art, can be easily real
Now other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is not limited to
Specific details and the legend shown here and described.
Claims (8)
1. a kind of ship cabin indoor locating system and localization method, it is characterised in that the system comprises:
Multiple localizer beacons, the multiple localizer beacon are fixed on appropriate location in cabin, pass through broadcast frame periodicity sending shape
State information, the status information include localizer beacon ID, strength of transmitted signals value, sending cycle, battery capacity；
Label is positioned, construction personnel wears positioning label, and the positioning tag scan receives multiple localizer beacon ID and reception
Signal strength indication RSSI, and by by localizer beacon ID and received signal strength indication RSSI with positioning label ID together with wireless
Mode is periodically sent out；
Communication base station receives positioning label and issues information, and is transmitted to location-server by wire/wireless mode；
Location-server is stored with the ID and corresponding position coordinates and strength of transmitted signals value of localizer beacon, described fixed
Position server receives the information of communication base station forwarding, by localizer beacon ID, the received signal strength indication RSSI in information with
And positioning label self ID parses, and the ID of the localizer beacon by receiving inquires the position seat of corresponding localizer beacon
Mark, by received signal strength indication RSSI and strength of transmitted signals value calculate positioning label between each localizer beacon at a distance from
Value obtains positioning label in the indoor location information in cabin by location algorithm later；
Cloud platform, stores the project information of user information and each user, and project information includes project name, position, made
Equipment and number, the use of equipment and operating condition, electronic map, so as to user equipment and electronic map tie up
Shield and management.
2. system described in claim 1, it is characterised in that the system also includes:
Inspection terminal is disposed, for the smart phone or tablet computer for supporting Bluetooth4.0；The deployment inspection terminal is used
It works in the deployment and inspection for completing localizer beacon and the deployment of generation and inspection file is wirelessly uploaded to the cloud
Platform；The deployment inspection terminal scans and receives the broadcast frame for the localizer beacon that cabin interior is affixed one's name to, and received positioning is believed
Target status information, including localizer beacon ID, strength of transmitted signals value, sending cycle, battery capacity, are wirelessly uploaded to
The cloud platform；The deployment inspection terminal is used to change the strength of transmitted signals value of the localizer beacon of cabin interior administration, sends
Period, and the information after change is wirelessly uploaded to the cloud platform；The terminal is for adding and deleting in cabin
The localizer beacon of deployment, and update can be wirelessly uploaded to the cloud platform.
3. system described in claim 1, which is characterized in that the localizer beacon includes:
Radio-frequency module, the radio-frequency module include DA14580 Bluetooth chip and peripheral circuit；
Encrypting module, the encrypting module include encryption chip and peripheral circuit, and the encrypting module is connect with radio frequency chip, are used
In the configuration parameter of anti-tamper radio frequency chip；
Lithium battery module, the lithium battery module are each module for power supply；
Power management module, the power management module are used for battery capacity management.
4. system described in claim 1, which is characterized in that the positioning label includes:
Bluetooth module, the bluetooth module include CC2640 Bluetooth chip and peripheral circuit；
LoRa module, the LoRa module include SX1278 LoRa chip and peripheral circuit；
Accelerometer module, the accelerometer module include accelerometer and peripheral circuit, the accelerometer module and blue
The connection of tooth module is in movement or stationary state for monitoring positioning label；
Lithium battery module, the lithium battery module are each module for power supply；
Power management module, the power management module are used for battery capacity and management of charging and discharging.
5. positioning label as claimed in claim 4, which is characterized in that the workflow of the positioning label are as follows:
Configuration positioning tag parameter first；
It is on location-server that the parameter setting for positioning label is good, configuration mode is set by communication base station, when label is continuous
Flashing light indicates that configuration is completed；
After the completion of positioning tag parameter configuration, the microcontroller of CC2640 Bluetooth chip monitors the electricity of the power management module
Monitor situation it is whether normal, and monitor CC2640 Bluetooth chip connect with accelerometer module it is whether normal；
If the electricity monitoring situation of electricity monitoring module is normal, and CC2640 Bluetooth chip is connect just with accelerometer module
Often, then microcontroller enters operating mode, otherwise enters error pattern；
When microcontroller enters operating mode, LoRa module scans ambient signals at this time, when the broadcast for receiving communication base station
After signal, microcontroller sends instructions, and positioning label enters working condition；
After entering error pattern, microcontroller passes through radio-frequency module periodic report error message；
After positioning label enters working condition, if accelerometer module monitors remain static to its own, that is,
Entire positioning label remains static, then microcontroller extended between the time of the signal transmitting and receiving of bluetooth module and LoRa module
Every；If accelerometer module monitors are kept in motion to its own, microcontroller is by bluetooth module and LoRa module
The time interval of signal transmitting and receiving restores normal, broadcast singal and measurement of the bluetooth module by the transmission of normal cycle Scan orientation beacon
Received signal strength, LoRa module send the received broadcast singal of bluetooth module and received signal strength and affiliated tag ID
To communication base station.
6. system described in claim 1, which is characterized in that the communication base station includes:
The first radio-frequency module of communication base station, first radio-frequency module of communication base station include SX1278 LoRa chip and periphery electricity
Road；
The second radio-frequency module of communication base station, second radio-frequency module of communication base station include SX1278 LoRa chip and periphery electricity
Road；
PoE module, the PoE module are connect with first radio-frequency module of communication base station and the second radio-frequency module of communication base station,
Ethernet communication and power supply are provided.
7. a kind of installation method of ship cabin indoor locating system, it is characterised in that the installation method the following steps are included:
Step 1: laying localizer beacon according to certain altitude and density in ship's space, the periodic broadcast of localizer beacon is wireless
Signal covers entire cabin,
Each localizer beacon has unique identity ID and deployed position, these information are recorded and are temporarily stored in deployment inspection
In terminal；
Step 2: after the completion of localizer beacon deployment, the deployment information being stored in deployment inspection terminal is uploaded into cloud platform,
The position paper and configuration file of localizer beacon are generated in cloud platform；
Step 3: in cabin, indoor suitable position arranges that a certain number of communication base stations, the signal of communication base station cover entire cabin
Room, communication base station access network, by wired or wirelessly；
Step 4: installation location-server realizes location-server and communication base station network interworking, by the position text of localizer beacon
Part and configuration file are downloaded from cloud platform, then upload to location-server；
Step 5: installation application end realizes the network interworking between application end and location-server.
8. the localization method of a kind of ship cabin indoor locating system and localization method, it is characterised in that the localization method include with
Lower step:
Step 1: localizer beacon is laid in cabin according to certain height and density, configure strength of transmitted signals value appropriate,
Identity ID and signal sending cycle send broadcast singal to surrounding；
Step 2: the personnel for carrying positioning label enter cabin, and what positioning label received communication base station issues work order, from
And enter working condition, positioning label receive around localizer beacon broadcast frame, and obtain localizer beacon ID and receive signal it is strong
Angle value, a precise positioning need at least to obtain the ID and received signal strength indication of three localizer beacons, which will determine
Position beacon ID and its received signal strength indication and positioning label self ID by wireless signal are sent to communication base station；
Step 3: communication base station receives the signal of positioning label, and forwards it to location-server；
Step 4: location-server receives the information from communication base station, is determined according to what is saved in localizer beacon ID query service device
Position beacon location information and strength of transmitted signals value calculate positioning mark by received signal strength indication and strength of transmitted signals value
It registers the distance between each localizer beacon value, positioning label is then obtained in the indoor location information in cabin by location algorithm.
Priority Applications (1)
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| CN201811069680.7A CN109163725A (en) | 2018-09-13 | 2018-09-13 | A kind of ship cabin indoor locating system and localization method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069680.7A CN109163725A (en) | 2018-09-13 | 2018-09-13 | A kind of ship cabin indoor locating system and localization method |
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| CN109163725A true CN109163725A (en) | 2019-01-08 |
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| CN201811069680.7A Pending CN109163725A (en) | 2018-09-13 | 2018-09-13 | A kind of ship cabin indoor locating system and localization method |
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