CN109257714B - Indoor positioning and auxiliary navigation method, device and system based on iBeacon - Google Patents

Indoor positioning and auxiliary navigation method, device and system based on iBeacon Download PDF

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CN109257714B
CN109257714B CN201811286309.6A CN201811286309A CN109257714B CN 109257714 B CN109257714 B CN 109257714B CN 201811286309 A CN201811286309 A CN 201811286309A CN 109257714 B CN109257714 B CN 109257714B
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ibeacon
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user equipment
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CN109257714A (en
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吴光伟
黄伟民
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Central South University of Forestry and Technology
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Central South University of Forestry and Technology
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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
    • 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
    • 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
    • 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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  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses an indoor positioning and auxiliary navigation method, device and system based on iBeacon. The method comprises the following steps: receiving broadcast information sent by a plurality of iBeacon devices, wherein the broadcast information of each iBeacon device comprises position information and a device number of the iBeacon device; calculating the distances between the plurality of iBeacon devices and user equipment, and selecting a first iBeacon device and a second iBeacon device which are closest to each other; and determining at least one extra iBeacon device according to the first iBeacon device and the second iBeacon device, and determining the current position of the user equipment by adopting a triangular centroid positioning method. The invention can better realize indoor accurate positioning and can be effectively applied to parking lots or other actual indoor scenes.

Description

Indoor positioning and auxiliary navigation method, device and system based on iBeacon
Technical Field
The invention relates to the field of positioning navigation, in particular to an indoor positioning and auxiliary navigation method, device and system based on iBeacon.
Background
With the continuous change of daily life style, the demand of people for indoor positioning technology becomes more and more urgent. The indoor positioning technology has wide application prospect in scenes such as superstores, parking lots and the like, and can realize that the indoor positioning technology with high real-time performance, high precision and low cost gets more and more attention and research.
One of the currently mainstream indoor positioning technologies is an iBeacon-based positioning scheme. This scheme is based on bluetooth low energy module's solution, through arranging iBeacon equipment at indoor environment, establishes the base station topology, and the signal that intelligent equipment realized the position through receiving iBeacon equipment realizes.
In the iBeacon indoor positioning scheme, two algorithms with better feasibility are an algorithm based on an RSSI fingerprint database and a triangular centroid positioning algorithm. The algorithm based on the RSSI fingerprint database needs to collect, filter and establish the database of the RSSI fingerprints in advance, and is easily influenced by the aging of the iBeacon device, the change of electric quantity and other reasons, and the algorithm is complex. In comparison, the triangle centroid positioning algorithm has the characteristics of good real-time performance, convenience and the like.
The triangular centroid positioning algorithm takes three iBeacon devices as beacon nodes, obtains coordinate positions on a plane model corresponding to the devices, and finally obtains the positions of the measured unknown nodes. In the circumferential positioning model, theoretically, if the physical distances from an unknown node to three beacon nodes are known, three circumferential models are established by taking the three beacon nodes as the centers of circles and the physical distances from the unknown node as the radius, and the unknown node is located at the intersection of the three circumferential models. As shown in fig. 1, the MS is the current location and A, B, C is the location of the iBeacon device used for positioning.
One of the main tasks of the trigonometric centroid location algorithm is how to select a proper beacon node for location calculation. Since iBeacon is a technology based on bluetooth 4.0 with low energy consumption, in practical applications, the signal strength is easily affected by such reasons as noise, rapid fading after the signal meets an obstacle, and errors caused by measurement tools. The method is characterized in that a circumference model is established by directly using iBeacon equipment based on three strongest signals, three circles of the iBeacon equipment are probably not intersected at one point, and then a large error is generated by using a triangular centroid positioning algorithm, and even the situation that an exact position cannot be calculated occurs.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide an iBeacon-based indoor positioning and assisted navigation method, apparatus, and system, which can quickly implement indoor accurate positioning and provide assisted navigation.
Based on the above object, an indoor positioning and assisted navigation method based on iBeacon provided by the embodiments of the present invention includes:
receiving broadcast information sent by a plurality of iBeacon devices, wherein the broadcast information of each iBeacon device comprises position information and a device number of the iBeacon device;
calculating the distances between the plurality of iBeacon devices and user equipment, and selecting a first iBeacon device and a second iBeacon device which are closest to each other;
and determining at least one extra iBeacon device according to the first iBeacon device and the second iBeacon device, and determining the current position of the user equipment by adopting a triangular centroid positioning method.
Optionally, before receiving the broadcast information sent by the multiple iBeacon devices, the method further includes: according to service environment, it is a plurality of at road both sides crossing equipment iBeacon equipment to it is a plurality of in order iBeacon equipment sets up equipment number.
Optionally, the equipment number is consecutive serial number, and arbitrary three has consecutive equipment number the iBeacon equipment is triangle-shaped setting.
Optionally, the method further includes: and calculating the distance between the iBeacon equipment and the user equipment according to the Received Signal Strength Indicator (RSSI) in the broadcast information.
Optionally, the distance between the first iBeacon device and the user equipment is less than the distance between the second iBeacon device and the user equipment, according to the first iBeacon device and the second iBeacon device determines at least one extra iBeacon device, and determining the current position of the user equipment by adopting a triangle centroid positioning method includes:
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference value is greater than or equal to predetermine the threshold value, then select with two iBeacon equipment that the equipment number of first iBeacon equipment is adjacent are as third iBeacon equipment and fourth iBeacon equipment, according to first iBeacon equipment third iBeacon equipment and fourth iBeacon equipment adopts triangle centroid localization method to confirm the current position of user equipment.
Optionally, the determining, by the first iBeacon device and the second iBeacon device, at least one extra iBeacon device, and determining the current location of the user equipment by using a triangle centroid location method includes:
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is adjacent, then select with first iBeacon equipment or the equipment number adjacent iBeacon equipment of second iBeacon equipment is as fifth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and fifth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Optionally, the determining, by the first iBeacon device and the second iBeacon device, at least one extra iBeacon device, and determining the current location of the user equipment by using a triangle centroid location method includes:
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is not adjacent, then the optional equipment number does first iBeacon equipment with iBeacon equipment between the second iBeacon equipment is as sixth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and the sixth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Optionally, the method further includes:
receiving a target position input by a user, and determining a path from the current position to the target position according to the current position of user equipment and an electronic indoor map;
in the moving process of the user equipment, the moving direction and distance of the user equipment are obtained, and the moving path of the user equipment is drawn;
the current position of the user equipment is positioned in real time through the positioning method, and the moving path of the user equipment is corrected by combining an electronic indoor map.
The embodiment of the invention also provides an indoor positioning and auxiliary navigation device based on iBeacon, which comprises:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving broadcast information sent by a plurality of iBeacon devices, and the broadcast information of each iBeacon device comprises position information and a device number of the iBeacon device;
the selection module is used for calculating the distances between the plurality of iBeacon devices and the user equipment and selecting the first iBeacon device and the second iBeacon device which are closest to each other;
and the position confirmation module is used for determining at least one extra iBeacon device according to the first iBeacon device and the second iBeacon device and determining the position of the user equipment by adopting a triangular centroid positioning method.
The embodiment of the invention also provides an iBeacon-based indoor positioning and auxiliary navigation system, which comprises a plurality of iBeacon devices and any one of the iBeacon-based indoor positioning and auxiliary navigation devices.
As can be seen from the above, according to the method, the device and the system for indoor positioning and assisted navigation based on iBeacon provided by the embodiments of the present invention, iBeacon devices are laid on both sides of a road according to the specific arrangement of the structure of a parking lot, which is simple and convenient and is closely attached to an actual scene. And the method can better determine the positioning node for realizing the positioning of the user equipment, thereby better realizing the accurate indoor positioning and being effectively applied to parking lots or other actual indoor scenes.
Drawings
FIG. 1 is a schematic diagram of positioning using a triangular centroid positioning algorithm;
fig. 2 is a flowchart of an indoor positioning and assisted navigation method based on iBeacon according to an embodiment of the present invention;
fig. 3 is a schematic diagram of indoor layout of related equipment in the method for indoor positioning and assisted navigation based on iBeacon according to the embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a principle of an iBeacon-based indoor positioning and assisted navigation method according to an embodiment of the present invention;
fig. 5 is a structural diagram of an indoor positioning and assisted navigation device based on iBeacon according to an embodiment of the present invention;
fig. 6 is a structural diagram of an indoor positioning and assisted navigation system based on iBeacon according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
Fig. 2 is a flowchart of an indoor positioning and assisted navigation method based on iBeacon according to an embodiment of the present invention.
The embodiment of the invention provides an indoor positioning and auxiliary navigation method based on iBeacon, which comprises the following steps:
step 100, receiving broadcast information sent by a plurality of iBeacon devices, wherein each broadcast information of the iBeacon devices comprises position information and device numbers of the iBeacon devices.
Specifically, let RSSI set of n surrounding nodes received at location point a where user equipment is located be { R }1,R2,R3,…,Rn}。
In the process of processing the RSSI value of the iBeacon device collected by the smart device, filtering of data is necessary. Because of the environment of multiple iBeacon devices, a smart device may receive a large number of iBeacon signals. Some iBeacon signals may have a large error due to the influence of the distance and environment where the corresponding iBeacon device is located, and have no calculation value. Therefore, the iBeacon signal needs to be filtered during the RSSI collection phase. A related threshold may be set and signals above the threshold are processed according to certain statistical methods to remove signals that may have large errors. This will effectively improve the accuracy of indoor positioning.
Step 200, calculating a plurality of distances between the iBeacon equipment and the user equipment, and selecting the first iBeacon equipment and the second iBeacon equipment which are closest to each other.
Optionally, the distance between the iBeacon device and the user equipment is calculated according to the received RSSI in the broadcast information. In this embodiment, the distance between the first iBeacon device and the user equipment is smaller than the distance between the second iBeacon device and the user equipment.
Specifically, a distance set between an unknown ranging point and each received RSSI node is calculated according to an RSSI ranging algorithm formula and is marked as { d1,d2,d3,…,dmSince the RSSI value is filtered, m is less than or equal to n, and the algorithm formula is
RSSI＝A-10nlg(d)
The formula is a calculation formula of a model of attenuation between the signal strength value and the distance, and a corresponding distance value d can be calculated according to the formula through the known received RSSI value of the iBeacon device, wherein A and n are preset empirical values and are closely related to a specifically used hardware node and a wireless signal propagation environment. By calculating the formula, the distance d between each filtered iBeacon node and the unknown node can be obtained. And selecting two equipment nodes closest to the unknown node, and then carrying out the next calculation according to the difference value between the serial numbers corresponding to the two equipment nodes.
Step 300, according to the first iBeacon device and the second iBeacon device, determining at least one extra iBeacon device and determining the current position of the user equipment by adopting a triangular centroid positioning method.
In another embodiment of the present invention, before the step 100 of receiving broadcast information sent by a plurality of iBeacon devices, the method further includes: according to service environment, it is a plurality of at road both sides crossing equipment iBeacon equipment to it is a plurality of in order iBeacon equipment sets up equipment number. Optionally, the equipment number is consecutive serial number, and arbitrary three has consecutive equipment number the iBeacon equipment is triangle-shaped setting.
In a specific embodiment, referring to fig. 3, the iBeacon devices are crossed on two sides of the aisle and are numbered as 1, 2, 3, 4 and 5 in sequence, and any three iBeacon devices with consecutive device numbers, such as 1, 2, 3 or 2, 3, 4 or 3, 4 and 5, are arranged in a triangle.
In an alternative embodiment, the device numbers are not limited to consecutive numbers, and other numbering rules with a sequential order may be used, for example, the device numbers 1, 2, 3, 4, and 5 in fig. 3 are replaced by e, f, g, h, and i, in which case the iBeacon devices with device numbers e, f, and g or f, g, h or g, h, and i are also iBeacon devices with consecutive device numbers.
In fig. 3, point a is the current location of the ue, and ideally, iBeacon at points 1, 2 and 3 should be taken for location calculation, but in actual situations, since RSSI instability often takes a non-ideal situation, 1, 4, 5 or 2, 3, 4 or 1, 3 and 5 may be used, and this situation uses a basic triangular centroid algorithm, so that the location error is relatively large and unstable. By adopting the method, better iBeacon equipment can be selected for positioning, the positioning error is reduced, and the positioning stability is ensured.
In some embodiments of the present invention, the determining at least one additional iBeacon device according to the first iBeacon device and the second iBeacon device in step 300, and determining the current location of the user equipment using triangular centroid location includes:
step 301, calculate the device number of the first iBeacon device and the difference of the device number of the second iBeacon device, judge the relationship of the difference and the preset threshold.
Step 302, if the difference is greater than or equal to preset the threshold value, then select with two iBeacon devices that the device number of first iBeacon device is adjacent are as third iBeacon device and fourth iBeacon device, according to first iBeacon device third iBeacon device and fourth iBeacon device adopts triangle centroid localization method to confirm the current position of user equipment.
Specifically, when the preset threshold is 3, that is, the difference between the device numbers of two iBeacon devices is more than 3, the iBeacon device closest to the unknown position is taken as the first iBeacon device. After confirming the first device node, the second and third iBeacon devices are adjacent to each other for the number of the confirmed first iBeacon device node, that is, the number difference is 1 between the other two device nodes. For example, in fig. 3, if the first iBeacon device number is 2, the second iBeacon device number and the third iBeacon device number are 1 and 3. And then, the current position of the user equipment is determined by utilizing a triangular centroid positioning method, and the positioning is more accurate at the moment.
In some embodiments of the present invention, the determining at least one additional iBeacon device according to the first iBeacon device and the second iBeacon device in step 300, and determining the current location of the user equipment by using the triangle centroid location method includes:
step 301, calculate the device number of the first iBeacon device and the difference of the device number of the second iBeacon device, judge the relationship of the difference and the preset threshold.
Step 303, if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is adjacent, then select with first iBeacon equipment or the adjacent iBeacon equipment of equipment number of second iBeacon equipment is as fifth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and fifth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Specifically, if the numbers of two devices closest to each other are 2 and 3, the first and second iBeacon devices are iBeacon devices corresponding to the numbers, and the third iBeacon device is selected from the devices corresponding to the numbers 1 and 4. The specific selection scheme may be determined according to the direct distances between the two devices and the unknown location, where the closest is the third iBeacon device. And then, the current position of the user equipment is determined by utilizing a triangular centroid positioning method, and the positioning is more accurate at the moment.
In some embodiments of the present invention, the determining at least one additional iBeacon device according to the first iBeacon device and the second iBeacon device in step 300, and determining the current location of the user equipment by using the triangle centroid location method includes:
step 301, calculate the device number of the first iBeacon device and the difference of the device number of the second iBeacon device, judge the relationship of the difference and the preset threshold.
Step 304, if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is not adjacent, then selects the equipment number to do first iBeacon equipment with iBeacon equipment between the second iBeacon equipment is as sixth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and sixth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Specifically, if the numbers of the two closest devices are 3 and 5, the first and second iBeacon devices are iBeacon devices corresponding to the numbers, and the third iBeacon device selects an iBeacon device with a number of 4. And then, the current position of the user equipment is determined by utilizing a triangular centroid positioning method, and the positioning is more accurate at the moment.
In a specific embodiment, as shown in fig. 4, let i be the device number of each iBeacon device node and the device numbers are consecutive numbers. Selecting two iBeacon devices with the minimum measured distance according to the process, and setting the iBeacon devices as B1And B2Calculating the corresponding number difference between the two, i.e. | B1.i-B2I |, noted as a. If a is larger than the set difference threshold value 3, namely a>And 3, judging the distance measured by the two devices, and confirming the smaller device as the first iBeacon device. The second and third iBeacons are then devices adjacent to the first iBeacon device, i.e. | B.i-B1I | ═ 1, where B is the device to be acquired, B1Is the first iBeacon device that has been validated. If a is less than the set threshold 3, i.e. a equals 2, the first and second iBeacon devices B can be identified1And B2The third iBeacon device is located between the two devices, i.e. B1.i<B.i<B2I, wherein device B is assumed without loss of generality1Is less than device B2B is the third iBeacon device to be confirmed. So far, three iBeacon devices B1、B2、B3All obtain and thenAnd obtaining the specific coordinates of the position nodes according to a weighted triangular centroid algorithm.
The circumferential model constructed from the three identified iBeacon devices is as follows. The coordinates of the centers of circles of the three circles are three iBeacon devices B1、B2、B3Corresponding coordinates with radius of the distance d between the three devices and the unknown position1、d2、d3. The three circles intersect each other two by two, and the specific coordinate of the intersection of the two circles can be respectively solved. The following system of equations:
(x1-x)2-(y1-y)2＝d1 2
(x2-x)2-(y2-y)2＝d2 2
in the above equation set, assume that the two iBeacon devices used for the calculation are B1And B2The plane coordinates thereof are each (x)1,y1) And (x)2,y2) At a distance d from the unknown position1And d2And (x, y) is the coordinates of the unknown point. Two points can be obtained by solving the equation system, and the distance equipment B is taken3The nearest point is set as point p3. By means of this step the point p can likewise be found1And p2。p1、p2、p3The positions of the three points are shown in fig. 4.
The circumferential model constructed from the three identified iBeacon devices is as follows. The coordinates of the centers of circles of the three circles are three iBeacon devices B1、B2、B3Corresponding coordinates with radius of the distance d between the three devices and the unknown position1、d2、d3. The three circles intersect each other two by two, and the specific coordinate of the intersection of the two circles can be respectively solved. The following system of equations:
(x1-x)2-(y1-y)2＝d1 2
(x2-x)2-(y2-y)2＝d2 2
in the above equation set, assume that the two iBeacon devices used for the calculation are B1And B2The plane coordinates thereof are each (x)1,y1) And (x)2,y2) At a distance d from the unknown position1And d2And (x, y) is the coordinates of the unknown point. Two points can be obtained by solving the equation system, and the distance equipment B is taken3The nearest point is set as point p3. By means of this step the point p can likewise be found1And p2。p1、p2、p3The positions of the three points are shown in fig. 4.
Finding p1、p2、p3After the specific coordinates of the three points, the unknown position a is (x, y), i.e. at p1、p2、p3Enclosed in a triangle. Since the signal strengths of the three beacon nodes for confirming the position, namely, the iBeacon devices are different, the size of the centroid coordinate decision weight of the beacon node, namely, the influence degree on the triangle centroid position can be reflected by the weighting factor. The mathematical model of the above steps is as follows, by which the specific coordinates (x, y) of the unknown point a can be confirmed.
Figure BDA0001849121860000091
Figure BDA0001849121860000092
In the above mathematical model, p1、p2、p3The coordinates are respectively (x)1,y1)、(x2,y2)、(x3,y3) Beacon node B1、B2、B3The distances measured from the unknown point A are respectively d1、d2、d3。
In another embodiment of the present invention, the iBeacon-based indoor positioning and assisted navigation method further includes:
step 401, receiving a target position input by a user, and determining a path from the current position to the target position according to the current position of the user equipment and the electronic indoor map.
Step 402, in the moving process of the user equipment, obtaining the moving direction and distance of the user equipment, and drawing the moving path of the user equipment.
And 403, positioning the current position of the user equipment in real time by the positioning method, and correcting the moving path of the user equipment by combining an electronic indoor map.
The method provided by the embodiment of the invention can be applied to a parking navigation system, and the specific method comprises the following steps:
step 501, after the user selects a specific parking lot of the destination, the user is navigated to the parking lot of the destination by using outdoor GPS navigation.
Step 502, after a user arrives at a parking lot, the intelligent device in the hand of the user scans devices around the parking lot, if the intelligent device successfully scans a signal sent by a designated device, the system indicates that the user arrives outside an entrance of the parking lot, allocates a parking space for the user, and then responds to the opening of a gate outside the parking lot to enable the user to drive into the parking lot.
And step 503, performing positioning navigation in the parking lot to navigate the user to the designated parking space. And carrying out indoor positioning and navigation in the indoor parking lot, wherein the indoor positioning adopts the indoor positioning and auxiliary navigation method based on the iBeacon according to any one of the embodiments.
An embodiment of the present invention further provides an iBeacon-based indoor positioning and assisted navigation apparatus, which is shown in fig. 5 and includes:
the receiving module 11 is configured to receive broadcast information sent by multiple iBeacon devices, where the broadcast information of each iBeacon device includes location information and a device number of the iBeacon device;
the selection module 12 is configured to calculate distances between the multiple iBeacon devices and the user equipment, and select a first iBeacon device and a second iBeacon device which are closest to each other;
and the position confirmation module 13 is used for determining at least one extra iBeacon device according to the first iBeacon device and the second iBeacon device, and determining the position of the user equipment by adopting a triangular centroid positioning method.
Optionally, before receiving the broadcast information sent by the multiple iBeacon devices, the method further includes: according to service environment, cross at road both sides and set up a plurality ofly iBeacon equipment to it is a plurality of in order iBeacon equipment sets up equipment number.
Optionally, the equipment number is consecutive serial number, and arbitrary three has consecutive equipment number the iBeacon equipment is triangle-shaped setting.
Optionally, the selecting module 12 is further configured to calculate a distance between the iBeacon device and the user equipment according to the received signal strength indicator RSSI in the broadcast information.
Optionally, the position confirmation module 13 is further configured to implement: calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference value is greater than or equal to predetermine the threshold value, then select with two iBeacon equipment that the equipment number of first iBeacon equipment is adjacent are as third iBeacon equipment and fourth iBeacon equipment, according to first iBeacon equipment third iBeacon equipment and fourth iBeacon equipment adopts triangle centroid localization method to confirm the current position of user equipment.
Optionally, the position confirmation module 13 is further configured to implement: calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is adjacent, then select with first iBeacon equipment or the equipment number adjacent iBeacon equipment of second iBeacon equipment is as fifth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and fifth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Optionally, the position confirmation module 13 is further configured to implement: calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value;
if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is not adjacent, then the optional equipment number does first iBeacon equipment with iBeacon equipment between the second iBeacon equipment is as sixth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and the sixth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
Optionally, the apparatus further includes a navigation module, configured to implement: receiving a target position input by a user, and determining a path from the current position to the target position according to the current position of user equipment and an electronic indoor map; in the moving process of the user equipment, the moving direction and distance of the user equipment are obtained, and the moving path of the user equipment is drawn; the current position of the user equipment is positioned in real time through the positioning method, and the moving path of the user equipment is corrected by combining an electronic indoor map.
An embodiment of the present invention further provides an iBeacon-based indoor positioning and assisted navigation system, which is shown in fig. 6 and includes a plurality of iBeacon devices and an iBeacon-based indoor positioning and assisted navigation apparatus according to any of the above embodiments.
According to the indoor positioning and auxiliary navigation method, device and system based on the iBeacon, the iBeacon equipment is laid on two sides of a road according to the specific structural arrangement of the parking lot, and the method, device and system are simple and convenient and are tightly attached to an actual scene. And the method can better determine the positioning node for realizing the positioning of the user equipment, thereby better realizing the accurate indoor positioning and being effectively applied to parking lots or other actual indoor scenes.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (6)

1. An indoor positioning and auxiliary navigation method based on iBeacon is characterized by comprising the following steps:
receiving broadcast information sent by a plurality of iBeacon devices, wherein the broadcast information of each iBeacon device comprises position information and a device number of the iBeacon device;
calculating the distances between the plurality of iBeacon devices and user equipment, and selecting a first iBeacon device and a second iBeacon device which are closest to each other;
determining at least one additional iBeacon device according to the first iBeacon device and the second iBeacon device, and determining the current position of the user equipment by adopting a triangular centroid positioning method;
before receiving broadcast information sent by a plurality of iBeacon devices, the method further comprises: according to the using environment, a plurality of iBeacon devices are crossed on two sides of a road, and the device numbers are set for the iBeacon devices in sequence;
the distance between the first iBeacon equipment and the user equipment is smaller than the distance between the second iBeacon equipment and the user equipment; the method comprises the following steps that according to the first iBeacon device and the second iBeacon device, at least one extra iBeacon device is determined, and the current position of the user equipment is determined by adopting a triangular centroid positioning method, wherein the method comprises the following steps:
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference value is larger than or equal to the preset threshold value, selecting two iBeacon devices adjacent to the device number of the first iBeacon device as a third iBeacon device and a fourth iBeacon device, and determining the current position of the user equipment by adopting a triangular centroid positioning method according to the first iBeacon device, the third iBeacon device and the fourth iBeacon device; alternatively, the first and second electrodes may be,
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference value is smaller than the preset threshold value, the equipment numbers of the first iBeacon equipment and the second iBeacon equipment are adjacent, the iBeacon equipment adjacent to the equipment number of the first iBeacon equipment or the second iBeacon equipment is selected as fifth iBeacon equipment, and the current position of the user equipment is determined by adopting a triangle centroid positioning method according to the first iBeacon equipment, the second iBeacon equipment and the fifth iBeacon equipment; alternatively, the first and second electrodes may be,
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is not adjacent, then the optional equipment number does first iBeacon equipment with iBeacon equipment between the second iBeacon equipment is as sixth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and the sixth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
2. The method of claim 1, wherein the device numbers are consecutive numbers, and any three of the iBeacon devices with consecutive device numbers are arranged in a triangle.
3. The method of claim 1, further comprising: and calculating the distance between the iBeacon equipment and the user equipment according to the Received Signal Strength Indicator (RSSI) in the broadcast information.
4. The method of claim 1, further comprising:
receiving a target position input by a user, and determining a path from the current position to the target position according to the current position of user equipment and an electronic indoor map;
in the moving process of the user equipment, the moving direction and distance of the user equipment are obtained, and the moving path of the user equipment is drawn;
the current position of the user equipment is positioned in real time through the positioning method, and the moving path of the user equipment is corrected by combining an electronic indoor map.
5. The utility model provides an indoor location and supplementary navigation head based on iBeacon which characterized in that includes:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving broadcast information sent by a plurality of iBeacon devices, and the broadcast information of each iBeacon device comprises position information and a device number of the iBeacon device;
the selection module is used for calculating the distances between the plurality of iBeacon devices and the user equipment and selecting the first iBeacon device and the second iBeacon device which are closest to each other;
the position confirmation module is used for determining at least one additional iBeacon device according to the first iBeacon device and the second iBeacon device and determining the position of the user equipment by adopting a triangular centroid positioning method;
before receiving broadcast information sent by a plurality of iBeacon devices, the method further comprises: according to the using environment, a plurality of iBeacon devices are crossed on two sides of a road, and the device numbers are set for the iBeacon devices in sequence;
the distance between the first iBeacon equipment and the user equipment is smaller than the distance between the second iBeacon equipment and the user equipment; the method comprises the following steps that according to the first iBeacon device and the second iBeacon device, at least one extra iBeacon device is determined, and the current position of the user equipment is determined by adopting a triangular centroid positioning method, wherein the method comprises the following steps:
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference value is larger than or equal to the preset threshold value, selecting two iBeacon devices adjacent to the device number of the first iBeacon device as a third iBeacon device and a fourth iBeacon device, and determining the current position of the user equipment by adopting a triangular centroid positioning method according to the first iBeacon device, the third iBeacon device and the fourth iBeacon device; alternatively, the first and second electrodes may be,
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference value is smaller than the preset threshold value, the equipment numbers of the first iBeacon equipment and the second iBeacon equipment are adjacent, the iBeacon equipment adjacent to the equipment number of the first iBeacon equipment or the second iBeacon equipment is selected as fifth iBeacon equipment, and the current position of the user equipment is determined by adopting a triangle centroid positioning method according to the first iBeacon equipment, the second iBeacon equipment and the fifth iBeacon equipment; alternatively, the first and second electrodes may be,
calculating the difference value between the equipment number of the first iBeacon equipment and the equipment number of the second iBeacon equipment, and judging the relation between the difference value and a preset threshold value; if the difference is less than preset the threshold value just first iBeacon equipment and the equipment number of second iBeacon equipment is not adjacent, then the optional equipment number does first iBeacon equipment with iBeacon equipment between the second iBeacon equipment is as sixth iBeacon equipment, according to first iBeacon equipment second iBeacon equipment and the sixth iBeacon equipment adopts triangle centroid location method to confirm the current position of user equipment.
6. An iBeacon-based indoor positioning and assisted navigation system, comprising a plurality of iBeacon devices and the iBeacon-based indoor positioning and assisted navigation apparatus of claim 5.
CN201811286309.6A 2018-10-31 2018-10-31 Indoor positioning and auxiliary navigation method, device and system based on iBeacon Active CN109257714B (en)

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