CN109257714A - A kind of indoor positioning and auxiliary navigation method based on iBeacon, apparatus and system - Google Patents
A kind of indoor positioning and auxiliary navigation method based on iBeacon, apparatus and system Download PDFInfo
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- CN109257714A CN109257714A CN201811286309.6A CN201811286309A CN109257714A CN 109257714 A CN109257714 A CN 109257714A CN 201811286309 A CN201811286309 A CN 201811286309A CN 109257714 A CN109257714 A CN 109257714A
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- 238000000034 method Methods 0.000 title claims abstract description 69
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- 230000004807 localization Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
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- 230000032683 aging Effects 0.000 description 1
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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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- 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
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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
- H04W4/029—Location-based management or tracking services
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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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- Remote Sensing (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor positioning based on iBeacon and auxiliary navigation methods, apparatus and system.Accompanying method includes: the broadcast message for receiving multiple iBeacon equipment and sending, and the broadcast message of each iBeacon equipment includes the location information and device numbering of the iBeacon equipment；Multiple iBeacon equipment are calculated at a distance from user equipment, selection distance nearest the first iBeacon equipment and the 2nd iBeacon equipment；At least one the additional iBeacon equipment is determined according to the first iBeacon equipment and the 2nd iBeacon equipment, and the current location of user equipment is determined using triangle method for positioning mass center.The present invention can preferably realize indoor accurate positioning, and can be effectively applied in parking lot or other practical indoor scenes.
Description
Technical field
The present invention relates to positioning and navigation fields, particularly relate to a kind of based on the indoor positioning of iBeacon and assisting navigation side
Method, apparatus and system.
Background technique
With the continuous change of daily life style, demand of the people to indoor positioning technologies becomes more more and more urgent.Room
Interior location technology application prospect in the scenes such as megastore, parking lot is vast, can be realized high real-time, high-precision, it is low at
This indoor positioning technologies get growing concern for and study.
At present the indoor positioning technologies of mainstream first is that the locating scheme based on iBeacon.It is blue that the program is based on low-power consumption
The solution of tooth module arranges iBeacon equipment by environment indoors, establishes cell site topology, smart machine passes through reception
The signal of iBeacon equipment realizes the confirmation of position.
In iBeacon indoor positioning scheme, two kinds of algorithms with preferable feasibility are the calculation based on RSSI fingerprint base
Method and triangle centroid localization algorithm.Due to the algorithm based on RSSI fingerprint base need to carry out in advance the collection of RSSI fingerprint, filtering,
Database is established, and is easy to be influenced by reasons such as the aging of iBeacon device and electric quantity changes, the algorithm is more multiple
It is miscellaneous.In comparison, triangle centroid localization algorithm has the features such as preferable real-time, convenience.
Triangle centroid localization algorithm obtains corresponding with equipment locating flat using three iBeacon equipment as beaconing nodes
Coordinate position on surface model finally obtains the position of surveyed unknown node.In circumferential registration model, theoretically if it is known that
Unknown node to three beaconing nodes physical distance, then using three beaconing nodes as the center of circle, to the physics of unknown node
Distance is that radius establishes three circle models, then unknown node is the infall for being in three circle models.As shown in Figure 1, MS
For current location, A, B, C are the position where iBeacon equipment used for positioning.
One groundwork of triangle centroid localization algorithm is how to choose suitable beaconing nodes to carry out location Calculation.Due to
IBeacon is the technology of the bluetooth 4.0 based on low energy consumption, and in practical applications, signal strength is easy by such as noise, signal
Encounter the influence of the reasons such as the later flutter fading of barrier, measuring tool bring error.Directly using based on three signals
Strongest iBeacon equipment establishes circle model, three of them is justified, and there is a strong possibility does not intersect at a bit, then using triangle mass center
Location algorithm will generate biggish error, or even the case where can not calculating accurate location occur.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to propose that a kind of indoor positioning based on iBeacon and auxiliary are led
Method, apparatus of navigating and system, can fast implement indoor precise positioning, and provide assisting navigation.
It is provided in an embodiment of the present invention a kind of based on the indoor positioning of iBeacon and assisting navigation side based on above-mentioned purpose
Method, comprising:
The broadcast message that multiple iBeacon equipment are sent is received, the broadcast message of each iBeacon equipment includes should
The location information and device numbering of iBeacon equipment；
Multiple iBeacon equipment are calculated at a distance from user equipment, the first nearest iBeacon equipment of selection distance
And the 2nd iBeacon equipment；
According to the first iBeacon equipment and the 2nd iBeacon equipment determine at least one it is additional described in
IBeacon equipment, and use triangle method for positioning mass center determines the current location of user equipment.
Optionally, it is described receive the broadcast message that multiple iBeacon equipment are sent before, further includes: according to use environment,
Intersect the multiple iBeacon equipment of equipment in both sides of the road, and is in order to be set described in multiple iBeacon equipment settings
Standby number.
Optionally, the device numbering is continuous number, and any three have the described of continuous device number
The setting triangular in shape of iBeacon equipment.
Optionally, further includes: institute is calculated according to the received signal strength indicator RSSI in the broadcast message received
IBeacon equipment is stated at a distance from user equipment.
Optionally, the first iBeacon equipment is less than the 2nd iBeacon equipment and is used at a distance from user equipment
The distance of family equipment, it is described that at least one volume is determined according to the first iBeacon equipment and the 2nd iBeacon equipment
The outer iBeacon equipment, and the current location for using triangle method for positioning mass center to determine user equipment includes:
Calculate the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment
Difference judges the relationship of the difference and preset threshold；
If the difference is more than or equal to the preset threshold, the device numbering of selection and the first iBeacon equipment
Two adjacent iBeacon equipment are as the 3rd iBeacon equipment and the 4th iBeacon equipment, according to the first iBeacon
Equipment, the 3rd iBeacon equipment and the 4th iBeacon equipment determine that user sets using triangle method for positioning mass center
Standby current location.
Optionally, described that at least one is determined according to the first iBeacon equipment and the 2nd iBeacon equipment
The additional iBeacon equipment, and the current location for using triangle method for positioning mass center to determine user equipment includes:
Calculate the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment
Difference judges the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon are set
Standby device numbering is adjacent, then selects the device numbering phase with the first iBeacon equipment or the 2nd iBeacon equipment
Adjacent iBeacon equipment is set as the 5th iBeacon equipment according to the first iBeacon equipment, the 2nd iBeacon
The standby and described 5th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
Optionally, described that at least one is determined according to the first iBeacon equipment and the 2nd iBeacon equipment
The additional iBeacon equipment, and the current location for using triangle method for positioning mass center to determine user equipment includes:
Calculate the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment
Difference judges the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon are set
Standby device numbering is non-conterminous, then select device numbering for the first iBeacon equipment and the 2nd iBeacon equipment it
Between iBeacon equipment as the 6th iBeacon equipment, set according to the first iBeacon equipment, the 2nd iBeacon
The standby and described 6th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
Optionally, further includes:
The target position for receiving user's input, determines current location according to user equipment current location and electronics indoor map
To the path of target position；
In user equipment moving process, the moving direction and distance of user equipment are obtained, draws user equipment movement
Path；
By the real-time locating user devices present position of the localization method, in conjunction with electronics indoor map, to user
The path of equipment moving is corrected.
The embodiment of the present invention also provides a kind of indoor positioning based on iBeacon and assisting navigation device, comprising:
Receiving module, the broadcast message sent for receiving multiple iBeacon equipment, each iBeacon equipment
Broadcast message includes the location information and device numbering of the iBeacon equipment；
Selecting module, for calculating multiple iBeacon equipment at a distance from user equipment, selection distance it is nearest the
One iBeacon equipment and the 2nd iBeacon equipment；
Location confirmation module, for being determined extremely according to the first iBeacon equipment and the 2nd iBeacon equipment
Few additional iBeacon equipment, and user equipment position is determined using triangle method for positioning mass center.
The embodiment of the present invention also provides a kind of indoor positioning and secondary navigation system based on iBeacon, including multiple
IBeacon equipment and the indoor positioning and assisting navigation device based on iBeacon as described in above-mentioned any one.
From the above it can be seen that a kind of indoor positioning and auxiliary based on iBeacon provided in an embodiment of the present invention
Air navigation aid, apparatus and system, the construction according to parking lot is specifically arranged, iBeacon equipment is laid on to the both sides of road, letter
Folk prescription just, is fitted closely with actual scene.And it can preferably be determined by this method for realizing user equipment positioning
Positioning node so as to preferably realize indoor accurate positioning, and can be effectively applied to parking lot or other reality
In indoor scene.
Detailed description of the invention
Fig. 1 is the schematic diagram positioned using triangle centroid localization algorithm；
Fig. 2 is a kind of flow chart of indoor positioning and auxiliary navigation method based on iBeacon of the embodiment of the present invention；
Fig. 3 is the relevant device room of indoor positioning and auxiliary navigation method based on iBeacon described in the embodiment of the present invention
Interior arrangement schematic diagram；
Fig. 4 is the schematic illustration of indoor positioning and auxiliary navigation method based on iBeacon described in the embodiment of the present invention；
Fig. 5 is a kind of structure chart of indoor positioning and assisting navigation device based on iBeacon of the embodiment of the present invention；
Fig. 6 is a kind of structure chart of indoor positioning and secondary navigation system based on iBeacon of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
Fig. 2 is a kind of flow chart of indoor positioning and auxiliary navigation method based on iBeacon of the embodiment of the present invention.
The embodiment of the present invention provides a kind of indoor positioning and auxiliary navigation method based on iBeacon, comprising:
Step 100, the broadcast message that multiple iBeacon equipment are sent, the broadcast letter of each iBeacon equipment are received
Breath includes the location information and device numbering of the iBeacon equipment.
Specifically, the RSSI collection for receiving n node around at point to be determined A where user equipment is enabled to be combined into { R1,R2,
R3,…,Rn}。
Wherein, during handling the RSSI value for the iBeacon equipment that smart machine is collected, the filtering to data is
It is necessary.Since in the environment in multiple iBeacon equipment, smart machine may receive a large amount of iBeacon letters
Number.Some iBeacon signals are because of its influence for corresponding to iBeacon equipment place distance and environment, it is understood that there may be large error,
It is worth without calculating.Therefore it needs to be filtered iBeacon signal in RSSI collection phase.A correlation can be set
Threshold value, then handled according to certain data statistical approach higher than the signal of threshold values, remove that there may be larger mistakes with this
The signal of difference.This will effectively improve the precision of indoor positioning.
Step 200, multiple iBeacon equipment are calculated at a distance from user equipment, selection is apart from nearest first
IBeacon equipment and the 2nd iBeacon equipment.
Optionally, according to the received signal strength indicator RSSI calculating in the broadcast message received
IBeacon equipment is at a distance from user equipment.In the present embodiment, the first iBeacon equipment is less than at a distance from user equipment
2nd iBeacon equipment is at a distance from user equipment.
Specifically, calculating unknown point distance measurement according to RSSI location algorithm formula and each receiving between RSSI node
Distance set is denoted as { d1,d2,d3,…,dm, due to being filtered processing to RSSI value, therefore m≤n, algorithmic formula are
RSSI=A-10nlg (d)
Above formula is the calculation formula for the model decayed between signal strength indication and distance, can be connect by known according to the formula
The RSSI value of the iBeacon equipment received calculates corresponding distance value d, and wherein A and n is preset empirical value, and is specifically made
The environment of hardware node and radio signal propagation is closely related.By the calculating to above-mentioned formula, can obtain filtered
The distance between each iBeacon node and unknown node d.Two device nodes nearest with unknown node distance are chosen, then
The calculating of next step is carried out according to the difference between the corresponding serial number of the two device nodes.
Step 300, at least one volume is determined according to the first iBeacon equipment and the 2nd iBeacon equipment
The outer iBeacon equipment, and use triangle method for positioning mass center determines the current location of user equipment.
In another embodiment of the present invention, the broadcast message that the multiple iBeacon equipment of reception are sent described in step 100
Before, further includes: according to use environment, intersect the multiple iBeacon equipment of equipment in both sides of the road, and be in order multiple
The device numbering is arranged in the iBeacon equipment.Optionally, the device numbering is continuous number, and any three have
The iBeacon equipment setting triangular in shape for thering is continuous device to number.
In a specific embodiment, referring to shown in Fig. 3, intersect equipment iBeacon equipment in passageway two sides, and successively
Number is 1,2,3,4,5, and any continuous iBeacon equipment such as 1,2,3 or 2,3,4 or 3,4,5 of three device numberings is
Setting triangular in shape.
In an alternate embodiment, device numbering is not limited to continuous number, also other can be used to have successive
The coding rule of sequence, such as the device numbering 1,2,3,4,5 in Fig. 3 is replaced with into e, f, g, h, i, at this time device numbering be e,
F, the iBeacon equipment of g or f, g, h or g, h, i are also the continuous iBeacon equipment of device numbering.
In Fig. 3, A point is the current location of user equipment, should ideally take the iBeacon at 1,2,3 points
Carry out location Calculation, but in actual conditions, due to RSSI it is unstable through frequently be not ideal situation, may use
1,4,5 or 2,3,4 or 1,3,5, such case is bigger using basic triangle centroid algorithm position error, and unstable
It is fixed.And use the method for the invention, then can choose better iBeacon equipment is positioned, and position error is reduced, and is protected
Demonstrate,prove the stabilization of positioning.
In some embodiments of the invention, according to the first iBeacon equipment and described described in step 300
Two iBeacon equipment determine at least one the additional iBeacon equipment, and determine user equipment using triangle center coordination
Current location include:
Step 301, the first device numbering of iBeacon equipment and setting for the 2nd iBeacon equipment are calculated
The difference of standby number, judges the relationship of the difference and preset threshold.
Step 302, if the difference is more than or equal to the preset threshold, selection and the first iBeacon equipment
Two adjacent iBeacon equipment of device numbering are as the 3rd iBeacon equipment and the 4th iBeacon equipment, according to described
One iBeacon equipment, the 3rd iBeacon equipment and the 4th iBeacon equipment use triangle method for positioning mass center
Determine the current location of user equipment.
Specifically, when preset threshold is 3, i.e., 3 or more the device numbering difference difference of two iBeacon equipment, then taking
With unknown position apart from nearest iBeacon equipment as the first iBeacon equipment.After confirming first device node, the
Two with the 3rd iBeacon equipment by the number of the first iBeacon device node of confirmation it is adjacent, i.e., number difference be 1 other two
A device node.Such as in Fig. 3, if the first iBeacon device numbering is 2, then setting for second with the 3rd iBeacon
Standby number is 1 and 3.The current location for being determined user equipment using triangle method for positioning mass center later is positioned more precisely at this time.
In some embodiments of the invention, according to the first iBeacon equipment and described described in step 300
Two iBeacon equipment determine at least one the additional iBeacon equipment, and determine user using triangle method for positioning mass center
The current location of equipment includes:
Step 301, the first device numbering of iBeacon equipment and setting for the 2nd iBeacon equipment are calculated
The difference of standby number, judges the relationship of the difference and preset threshold.
Step 303, if the difference is less than the preset threshold and the first iBeacon equipment and described second
The device numbering of iBeacon equipment is adjacent, then selects and the first iBeacon equipment or the 2nd iBeacon equipment
The adjacent iBeacon equipment of device numbering is as the 5th iBeacon equipment, according to the first iBeacon equipment, described second
IBeacon equipment and the 5th iBeacon equipment determine the current location of user equipment using triangle method for positioning mass center.
Specifically, if the number apart from two nearest equipment is 2 and 3, then first and second iBeacon equipment is upper
The corresponding iBeacon equipment of number is stated, the 3rd iBeacon equipment is then to choose in equipment corresponding to 1 and 4 in number.Specifically
Selection scheme can directly distance determines according to two equipment and unknown position surveyed, wherein distance is recently third
IBeacon equipment.The current location for being determined user equipment using triangle method for positioning mass center later is positioned more precisely at this time.
In some embodiments of the invention, according to the first iBeacon equipment and described described in step 300
Two iBeacon equipment determine at least one the additional iBeacon equipment, and determine user using triangle method for positioning mass center
The current location of equipment includes:
Step 301, the first device numbering of iBeacon equipment and setting for the 2nd iBeacon equipment are calculated
The difference of standby number, judges the relationship of the difference and preset threshold.
Step 304, if the difference is less than the preset threshold and the first iBeacon equipment and described second
The device numbering of iBeacon equipment is non-conterminous, then selects device numbering for the first iBeacon equipment and described second
IBeacon equipment between iBeacon equipment is as the 6th iBeacon equipment, according to the first iBeacon equipment, described
2nd iBeacon equipment and the 6th iBeacon equipment use triangle method for positioning mass center to determine the current of user equipment
Position.
Specifically, if the number apart from two nearest equipment is 3 and 5, then first and second iBeacon equipment is upper
The corresponding iBeacon equipment of number is stated, the 3rd iBeacon equipment then chooses the iBeacon equipment that number is 4.Three are utilized later
Angle method for positioning mass center determines the current location of user equipment, positions at this time more precisely.
In a specific embodiment, as shown in figure 4, setting i as the device numbering of each iBeacon device node and setting
Standby number is continuous number.Two institute's rangings are chosen from the smallest iBeacon equipment according to the above process, are set as B1And B2, meter
Calculating corresponding number difference between the two is | B1.i-B2.i |, it is denoted as a.If a is greater than set difference threshold 3, i.e. a > 3, then two are judged
From size, smaller person is confirmed as the first iBeacon equipment for a equipment institute's ranging.Second and the 3rd iBeacon be then and first
The adjacent equipment of iBeacon equipment, i.e., | B.i-B1.i |=1, wherein B is equipment to be obtained, B1For have been acknowledged first
IBeacon equipment.If a is less than set threshold values 3, i.e. a=2 can then confirm the first and second iBeacon equipment B1And B2, third
IBeacon equipment is between above-mentioned two equipment, i.e. B1.i<B.i<B2.i, wherein assuming equipment B without loss of generality1Number
Less than equipment B2Number, B be the 3rd iBeacon equipment to be confirmed.So far three iBeacon equipment B1、B2、B3All obtain
It takes, then obtains the specific coordinate of nodes of locations according to weighting triangle centroid algorithm.
The circle model constituted according to the three of confirmation iBeacon equipment is as follows.The central coordinate of circle of three circumference is three
A iBeacon equipment B1、B2、B3Corresponding coordinate, radius are three equipment and unknown position distance d1、d2、d3.Three circumference
Intersect two-by-two, the specific coordinate of two circle intersections can be found out respectively.Arrange following equation group:
(x1-x)2-(y1-y)2=d1 2
(x2-x)2-(y2-y)2=d2 2
In above-mentioned equation group, it is assumed that two iBeacon equipment for calculating are B1And B2, plane coordinates is respectively
(x1,y1) and (x2,y2), it is d at a distance from unknown position1And d2, (x, y) is the coordinate of required unknown point.Solve above-mentioned equation
Group can obtain two o'clock, take wherein apart from equipment B3A bit nearest, is set as point p3.Point p can be equally found out by this step1And p2。p1、
p2、p33 points of position is as shown in Figure 4.
The circle model constituted according to the three of confirmation iBeacon equipment is as follows.The central coordinate of circle of three circumference is three
A iBeacon equipment B1、B2、B3Corresponding coordinate, radius are three equipment and unknown position distance d1、d2、d3.Three circumference
Intersect two-by-two, the specific coordinate of two circle intersections can be found out respectively.Arrange following equation group:
(x1-x)2-(y1-y)2=d1 2
(x2-x)2-(y2-y)2=d2 2
In above-mentioned equation group, it is assumed that two iBeacon equipment for calculating are B1And B2, plane coordinates is respectively
(x1,y1) and (x2,y2), it is d at a distance from unknown position1And d2, (x, y) is the coordinate of required unknown point.Solve above-mentioned equation
Group can obtain two o'clock, take wherein apart from equipment B3A bit nearest, is set as point p3.Point p can be equally found out by this step1And p2。p1、
p2、p33 points of position is as shown in Figure 4.
Acquire p1、p2、p3After the specific coordinate of three points, unknown position A=(x, y) is i.e. in p1、p2、p3Surrounded triangle
In.Due to for confirm position three beaconing nodes i.e. iBeacon equipment signal strength it is different, then can pass through
Weighted factor embodies beaconing nodes to the size of center-of-mass coordinate power to make decision, that is, influence journey to the triangle centroid position
Degree.The mathematical model of above-mentioned steps is as follows, and the specific coordinate (x, y) of unknown point A can be confirmed by the model.
In above-mentioned mathematical model, p1、p2、p3Coordinate is other (x1,y1)、(x2,y2)、(x3,y3), beaconing nodes B1、B2、B3Institute
Surveying at a distance from unknown point A is respectively d1、d2、d3。
In another embodiment of the present invention, the indoor positioning and auxiliary navigation method based on iBeacon is also wrapped
It includes:
Step 401, the target position for receiving user's input is determined according to user equipment current location and electronics indoor map
Path of the current location to target position.
Step 402, in user equipment moving process, the moving direction and distance of user equipment are obtained, user is drawn and sets
Standby mobile path.
Step 403, by the real-time locating user devices present position of the localization method, in conjunction in electronic room
Figure is corrected the path of user equipment movement.
The method of the embodiment of the present invention can be applicable in parking navigation system, and specific method includes:
Step 501, behind the specific parking lot of user's selection destination, purpose is navigated the user to using outdoor GPS navigation
Ground parking lot.
Step 502, after user reaches parking lot, the smart machine in user hand can scan parking lot surrounding devices, if
The signal that successful scan is issued to designated equipment, then showing that user has arrived at outside Entrance, system can be user point
With a parking stall, the gate being then responding to outside parking lot is opened, and user is allowed to drive into parking lot.
Step 503, location navigation is carried out in parking lot to navigate the user in specified parking stall.Parking lot indoors
In, indoor positioning and navigation are carried out, indoor positioning is using the interior based on iBeacon as described in above-mentioned any one embodiment
Positioning and auxiliary navigation method.
The embodiment of the present invention also provides a kind of indoor positioning based on iBeacon and assisting navigation device, referring to Fig. 5 institute
Show, comprising:
Receiving module 11, the broadcast message sent for receiving multiple iBeacon equipment, each iBeacon equipment
Broadcast message include the iBeacon equipment location information and device numbering；
Selecting module 12, for calculating multiple iBeacon equipment at a distance from user equipment, selection distance is nearest
First iBeacon equipment and the 2nd iBeacon equipment；
Location confirmation module 13, for being determined according to the first iBeacon equipment and the 2nd iBeacon equipment
At least one the additional iBeacon equipment, and user equipment position is determined using triangle method for positioning mass center.
Optionally, it is described receive the broadcast message that multiple iBeacon equipment are sent before, further includes: according to use environment,
It in both sides of the road multiple iBeacon equipment arranged in a crossed manner, and is in order to be set described in multiple iBeacon equipment settings
Standby number.
Optionally, the device numbering is continuous number, and any three have the described of continuous device number
The setting triangular in shape of iBeacon equipment.
Optionally, the selecting module 12 is also used to be referred to according to the received signal strength in the broadcast message received
Show that RSSI calculates the iBeacon equipment at a distance from user equipment.
Optionally, the location confirmation module 13 is also used to realize: calculating the device numbering of the first iBeacon equipment
And the difference of the device numbering of the 2nd iBeacon equipment, judge the relationship of the difference and preset threshold；
If the difference is more than or equal to the preset threshold, the device numbering of selection and the first iBeacon equipment
Two adjacent iBeacon equipment are as the 3rd iBeacon equipment and the 4th iBeacon equipment, according to the first iBeacon
Equipment, the 3rd iBeacon equipment and the 4th iBeacon equipment determine that user sets using triangle method for positioning mass center
Standby current location.
Optionally, the location confirmation module 13 is also used to realize: calculating the device numbering of the first iBeacon equipment
And the difference of the device numbering of the 2nd iBeacon equipment, judge the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon are set
Standby device numbering is adjacent, then selects the device numbering phase with the first iBeacon equipment or the 2nd iBeacon equipment
Adjacent iBeacon equipment is set as the 5th iBeacon equipment according to the first iBeacon equipment, the 2nd iBeacon
The standby and described 5th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
Optionally, the location confirmation module 13 is also used to realize: calculating the device numbering of the first iBeacon equipment
And the difference of the device numbering of the 2nd iBeacon equipment, judge the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon are set
Standby device numbering is non-conterminous, then select device numbering for the first iBeacon equipment and the 2nd iBeacon equipment it
Between iBeacon equipment as the 6th iBeacon equipment, set according to the first iBeacon equipment, the 2nd iBeacon
The standby and described 6th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
Optionally, described device further includes navigation module, for realizing: receive user input target position, according to
Family equipment current location and electronics indoor map determine current location to the path of target position；In user equipment moving process
In, the moving direction and distance of user equipment are obtained, the mobile path of user equipment is drawn；It is fixed in real time by the localization method
Position user equipment present position is corrected the path of user equipment movement in conjunction with electronics indoor map.
The embodiment of the present invention also provides a kind of indoor positioning and secondary navigation system based on iBeacon, referring to Fig. 6 institute
Show, the system comprises multiple iBeacon equipment and the indoor positioning based on iBeacon as described in above-mentioned any embodiment
And assisting navigation device.
Indoor positioning and auxiliary navigation method of the present invention based on iBeacon, apparatus and system, according to parking lot
IBeacon equipment, is laid on the both sides of road by the specific arrangement of construction, simple and convenient, is fitted closely with actual scene.And lead to
The positioning node positioned for realizing user equipment can preferably be determined by crossing this method, indoor so as to preferably realize
It is accurately positioned, and can be effectively applied in parking lot or other practical indoor scenes.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of indoor positioning and auxiliary navigation method based on iBeacon characterized by comprising
The broadcast message that multiple iBeacon equipment are sent is received, the broadcast message of each iBeacon equipment includes should
The location information and device numbering of iBeacon equipment；
Multiple iBeacon equipment are calculated at a distance from user equipment, the first nearest iBeacon equipment of selection distance and
2nd iBeacon equipment；
According to the first iBeacon equipment and the 2nd iBeacon equipment determine at least one it is additional described in
IBeacon equipment, and use triangle method for positioning mass center determines the current location of user equipment.
2. the method according to claim 1, wherein the broadcast letter for receiving multiple iBeacon equipment and sending
Before breath, further includes: according to use environment, intersect the multiple iBeacon equipment of equipment in both sides of the road, and be in order more
The device numbering is arranged in a iBeacon equipment.
3. according to the method described in claim 2, it is characterized in that, the device numbering is continuous number, and any three
The iBeacon equipment setting triangular in shape with continuous device number.
4. the method according to claim 1, wherein further include: according in the broadcast message received
Received signal strength indicator RSSI calculates the iBeacon equipment at a distance from user equipment.
5. the method according to claim 1, wherein the first iBeacon equipment is at a distance from user equipment
It is described according to the first iBeacon equipment and described less than the 2nd iBeacon equipment at a distance from user equipment
Two iBeacon equipment determine at least one the additional iBeacon equipment, and determine user using triangle method for positioning mass center
The current location of equipment includes:
The difference of the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment is calculated,
Judge the relationship of the difference and preset threshold；
If the difference is more than or equal to the preset threshold, select adjacent with the device numbering of the first iBeacon equipment
Two iBeacon equipment as the 3rd iBeacon equipment and the 4th iBeacon equipment, set according to the first iBeacon
Standby, the described 3rd iBeacon equipment and the 4th iBeacon equipment use triangle method for positioning mass center to determine user equipment
Current location.
6. the method according to claim 1, wherein described according to the first iBeacon equipment and described
2nd iBeacon equipment determines at least one the additional iBeacon equipment, and is determined and used using triangle method for positioning mass center
The current location of family equipment includes:
The difference of the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment is calculated,
Judge the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon equipment
Device numbering is adjacent, then selects adjacent with the device numbering of the first iBeacon equipment or the 2nd iBeacon equipment
IBeacon equipment as the 5th iBeacon equipment, according to the first iBeacon equipment, the 2nd iBeacon equipment with
And the 5th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
7. the method according to claim 1, wherein described according to the first iBeacon equipment and described
2nd iBeacon equipment determines at least one the additional iBeacon equipment, and is determined and used using triangle method for positioning mass center
The current location of family equipment includes:
The difference of the device numbering of the first iBeacon equipment and the device numbering of the 2nd iBeacon equipment is calculated,
Judge the relationship of the difference and preset threshold；
If the difference is less than the preset threshold and the first iBeacon equipment and the 2nd iBeacon equipment
Device numbering is non-conterminous, then selects device numbering between the first iBeacon equipment and the 2nd iBeacon equipment
IBeacon equipment as the 6th iBeacon equipment, according to the first iBeacon equipment, the 2nd iBeacon equipment with
And the 6th iBeacon equipment determines the current location of user equipment using triangle method for positioning mass center.
8. the method according to claim 1, wherein further include:
The target position for receiving user's input, determines current location to mesh according to user equipment current location and electronics indoor map
The path of cursor position；
In user equipment moving process, the moving direction and distance of user equipment are obtained, draws the mobile path of user equipment；
By the real-time locating user devices present position of the localization method, in conjunction with electronics indoor map, to user equipment
The path of movement is corrected.
9. a kind of indoor positioning and assisting navigation device based on iBeacon characterized by comprising
Receiving module, the broadcast message sent for receiving multiple iBeacon equipment, the broadcast of each iBeacon equipment
Information includes the location information and device numbering of the iBeacon equipment；
Selecting module, for calculating multiple iBeacon equipment at a distance from user equipment, selection is apart from nearest first
IBeacon equipment and the 2nd iBeacon equipment；
Location confirmation module, for determining at least one according to the first iBeacon equipment and the 2nd iBeacon equipment
A additional iBeacon equipment, and user equipment position is determined using triangle method for positioning mass center.
10. a kind of indoor positioning and secondary navigation system based on iBeacon, which is characterized in that including multiple iBeacon equipment
And the indoor positioning based on iBeacon and assisting navigation device as claimed in claim 9.
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| CN201811286309.6A CN109257714B (en) | 2018-10-31 | 2018-10-31 | Indoor positioning and auxiliary navigation method, device and system based on iBeacon |
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| CN109257714B (en) | 2021-01-29 |
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