CN109298393A - Positioning system and its localization method in a kind of building based on BIM model - Google Patents
Positioning system and its localization method in a kind of building based on BIM model Download PDFInfo
- Publication number
- CN109298393A CN109298393A CN201811254807.2A CN201811254807A CN109298393A CN 109298393 A CN109298393 A CN 109298393A CN 201811254807 A CN201811254807 A CN 201811254807A CN 109298393 A CN109298393 A CN 109298393A
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- zigbee
- base station
- positioning
- building
- facade
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000004807 localization Effects 0.000 title claims abstract description 8
- 230000006855 networking Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- 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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The present invention is positioning system and its localization method in a kind of building based on BIM model, interior positioning system include host computer operating platform, Zigbee receive base station, several Zigbee locating base stations, several be placed on personnel or object to be positioned Zigbee positioning label, the BIM model of building is stored in host computer operating platform, Zigbee receives base station and is connected with host computer operating platform, Zigbee positions label and Zigbee locating base station is wirelessly connected, and Zigbee locating base station receives base station radio with Zigbee and connect.The present invention solves that current indoor positioning is inaccurate, the not visible problem of indoor environment；Using Internet of Things multinode location technology realize low complex degree, the higher indoor positioning of precision, and combine BIM technology, can intuitively watch by where positioning target position and ambient environmental conditions.
Description
Technical field
The present invention relates to the real-time positioning field of personnel positions in building more particularly to a kind of buildings based on BIM model
Positioning system and its localization method in object.
Background technique
Currently, existing positioning system mainly has GPS, Beidou etc., GPS, BEI-DOU position system are chiefly used in outdoor positioning
Most of scenes.
But for the positioning inside interior architecture object, the weak output signals such as GPS, Beidou can not be accurately positioned.In addition indoor
The case where it is more complicated compared with outdoor, each floor space has different structures, although having existed multiple indoor positioning
Scheme, but to indoor positioning, light have the actual environment situation of the not no position of location information not have much meanings, it is difficult to
Indoor positioning field large-area applications.
Summary of the invention
Present invention seek to address that current indoor positioning is inaccurate, the not visible problem of indoor environment, and a kind of base is provided
In positioning system and its localization method in the building of BIM model, can intuitively watch by where positioning target position and
Ambient environmental conditions.
The present invention to achieve the above object, using following technical scheme:
Positioning system in a kind of building based on BIM model, including host computer operating platform, Zigbee receive base station,
Several Zigbee locating base stations, several be placed in the Zigbee on personnel or object to be positioned positioning label, it is described on
The BIM model of building is stored in the machine operating platform of position, the Zigbee receives base station and the host computer operating platform phase
Even, the Zigbee positioning label and Zigbee locating base station are wirelessly connected, and the Zigbee locating base station and Zigbee are received
Base station radio connection.
The Zigbee locating base station is divided into facade networking base station and flat network base station, and facade networking base station includes distribution
Several Zigbee facade locating base stations in building in different floors, flat network base station include being distributed in building
Several Zigbee plane positioning base stations, Zigbee positioning label and Zigbee plane positioning base station, Zigbee facade
The connection of locating base station radio frequency signal.
The BIM model of the building is with Revit according to real building object: the three-dimensional information model of foundation has simultaneously been attached to
Whole building information.
The dynamic software video camera developed in the host computer operating platform equipped with Revit, walking path are detection
The path that the coordinate of the Zigbee positioning label arrived is formed.
The localization method of positioning system, specific steps in the above-mentioned building based on BIM model are as follows:
S1, several Zigbee plane positioning base stations are installed in the fixation position of the different floor levels of building, every
Zigbee facade locating base station is installed in the inlet of a floor, and Zigbee plane positioning base station, Zigbee facade locating base station are only
Vertical networking detects the plane and facade coordinate value of Zigbee positioning label respectively；
The personnel or object that S2, needs are positioned carry a Zigbee positioning label and enter building, and entrance is each
When floor, the Zigbee facade locating base station of floor inlet installation is first passed through, Zigbee positioning label constantly issues radio frequency letter
Number give Zigbee facade locating base station, Zigbee facade locating base station receive live signal, by signal strength telemetry come based on
Coordinate value of the coordinate in facade for calculating Zigbee positioning label makes Zigbee positioning label and corresponding building according to this height
Zigbee plane positioning base station networking above layer, and the signal and information of Zigbee plane positioning base station are received, according to signal
Intensity telemetry and three side telemetrys calculate coordinate value of the coordinate in plane of Zigbee positioning label；
The coordinate value that S3, Zigbee position label is corresponded with the BIM model coordinate of building, obtains Zigbee positioning
Label real time position in the BIM model of building, to be monitored to personnel positions or object space.
The walking path of dynamic software video camera in S4, host computer operating platform is the Zigbee positioning label detected
Movement routine.
The beneficial effects of the present invention are: the present invention solves, current indoor positioning is inaccurate, and indoor environment is not visible
Problem；Low complex degree, the higher indoor positioning of precision are realized using Internet of Things multinode location technology, and combine BIM technology, it can
Intuitively watch by where positioning target position and ambient environmental conditions.
Detailed description of the invention
Fig. 1 is the schematic illustration of three side telemetrys in the present invention；
Fig. 2 is positioning system structure block diagram layout of floor plan of the invention；
Fig. 3 is positioning system structure block diagram floor facade layout drawing of the invention；
In figure: 1-Zigbee plane positioning base station；2-Zigbee facade locating base station；3-Zigbee positions label；4-
Zigbee receives base station；5- host computer operating platform；
It is described in detail below with reference to the embodiment of the present invention referring to attached drawing.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figure 2 and Figure 3, positioning system in a kind of building based on BIM model, including host computer operating platform 5,
Zigbee receive base station 4, several Zigbee locating base stations, several be placed in the Zigbee on personnel or object to be positioned
Label 3 is positioned, the BIM model of building is stored in the host computer operating platform 5, the Zigbee receives base station 4 and institute
It states host computer operating platform 5 to be connected, the Zigbee positioning label 3 and Zigbee locating base station are wirelessly connected, the Zigbee
Locating base station and Zigbee receive base station 4 and are wirelessly connected.
The Zigbee locating base station is divided into facade networking base station and flat network base station, and facade networking base station includes distribution
Several Zigbee facade locating base stations 2 in building in different floors, flat network base station include being distributed in building
Several interior Zigbee plane positioning base stations 1, the Zigbee positioning label 3 and Zigbee plane positioning base station 1, Zigbee
The connection of 2 radio frequency signal of facade locating base station.
The BIM model of the building is to use Revit according to the real building object 1:1 three-dimensional information model established and be attached to
Complete building information.
The dynamic software video camera developed in the host computer operating platform 5 equipped with Revit, walking path are detection
The path that the coordinate of the Zigbee positioning label 3 arrived is formed.
The localization method of positioning system, specific steps in the above-mentioned building based on BIM model are as follows:
S1, several Zigbee plane positioning base stations 1 are installed in the fixation position of the different floor levels of building, every
The inlet of a floor is installed by Zigbee facade locating base station 2, Zigbee plane positioning base station 1, Zigbee facade locating base station 2
Independence networking detects the plane and facade coordinate value of Zigbee positioning label 3 respectively；
The personnel or object that S2, needs are positioned carry a Zigbee positioning label 3 and enter building, and entrance is each
When floor, the Zigbee facade locating base station 2 of floor inlet installation is first passed through, Zigbee positions label 3 and constantly issues radio frequency
Signal receives live signal to Zigbee facade locating base station 2, Zigbee facade locating base station 2, is based on signal strength telemetry
Zigbee positioning label 3 and phase are made according to this height to calculate coordinate value of the coordinate in facade of Zigbee positioning label 3
1 networking of Zigbee plane positioning base station above corresponding floor, and the signal and information of Zigbee plane positioning base station 1 are received,
Coordinate value of the coordinate in plane of Zigbee positioning label 3 is calculated according to signal strength telemetry and three side telemetrys；
The coordinate value that S3, Zigbee position label 3 is corresponded with the BIM model coordinate of building, and it is fixed to obtain Zigbee
The position real time position in the BIM model of building of label 3, to be monitored to personnel positions or object space.
The walking path of dynamic software video camera in S4, host computer operating platform 5 is the Zigbee positioning mark detected
The movement routine of label 3.
Specific embodiment:
As shown in Figure 2 and Figure 3, multiple Zigbee plane positionings base station 1 is installed in the fixed position of the floor level of building,
The corresponding arrangement Zigbee plane positioning base station 1 of the plane of each floor, in the inlet of each floor, installation Zigbee facade is fixed
Position base station 2, wherein Zigbee plane positioning base station 1 and 2 independence networking of Zigbee facade locating base station, it is fixed to detect Zigbee respectively
Coordinate value of the position label 3 in plane and facade.
Zigbee receives base station 4 and connects with host computer operating platform 1, obtained for receiving Zigbee positioning label 3
Position coordinate value.
The personnel for needing to be positioned or object carry a Zigbee positioning label 3 and enter building, first Zigbee
The signal that Zigbee facade locating base station 2 is first detected in base station 4 is received, the story height being currently located is calculated, highly according to this,
Make 1 networking of Zigbee plane positioning base station above Zigbee positioning label 3 and corresponding floor, and it is fixed to receive Zigbee plane
The signal and information of position base station 1 calculate the coordinate value in plane.
When the facade coordinate for detecting Zigbee facade locating base station 2 enters another story height interval judgement Zigbee
It positions label 3 and enters other floor, according to this height, keep the Zigbee above Zigbee positioning label 3 and corresponding floor flat
1 networking of face locating base station, and signal and the information of Zigbee plane positioning base station 1 are received to calculate the coordinate value in plane.
Host computer operating platform 5 connects a Zigbee and receives base station 4, to receive from all Zigbee plane positioning bases
The signal strength for 1 and Zigbee facade locating base station 2 of standing, different distances correspond to different signal strengths, are based on signal strength
Telemetry and three side telemetrys calculate the coordinate value of Zigbee positioning label 3.
Zigbee positions label 3 and is used for dynamic positioning, is often placed in above the personnel for needing to be positioned or object, Zigbee
It positions label 3 and constantly issues radiofrequency signal so that Zigbee plane positioning base station 1 and Zigbee facade locating base station 2 can be received
To live signal.
Zigbee receives base station 4 and receives the signal strength Value Data that each Zigbee locating base station issues, and passes to upper
Machine operating platform 5, the three sides telemetry method according to figure 1 of host computer operating platform 5 calculate Zigbee positioning label 3
Coordinate value.
The principles of three side telemetrys as shown in Figure 1,
The position (x1, y1) of known three Zigbee locating base stations, (x2, y2), (x3, y3), according to signal strength ranging
Method measures unknown point (x0, y0) to distance d1, d2, the d3 of three Zigbee locating base stations, is that radius makees three with d1, d2, d3
Circle, according to Pythagorean theorem, obtains the position calculation formula of the i.e. unknown point of intersection point:
(x1-x0)2+(y1-y0)2=d12
(x2-x0)2+(y2-y0)2=d22
(x3-x0)2+(y3-y0)2=d32
By the reference position (x1, y1) of known three Zigbee locating base stations, (x2, y2), (x3, y3) can acquire position
Coordinate x0, the y0 value for Zigbee positioning 3 horizontal plane of label set.
Zigbee positioning label 3 and Zigbee facade locating base station 2 obtain Zigbee positioning label 3 in the coordinate of horizontal plane
Z0 value.
Revit builds out the BIM model for the building for needing to position with the ratio of 1:1, makes the seat of its coordinate and positioning system
It marks corresponding.Host computer operating platform 5 is equipped with the model after the BIM module lightweight of building, the BIM model of building
All positions, the coordinate information for remaining original model can receive Zigbee and receive the position coordinates that base station 4 is sent back.
The coordinate value (x0, y0, z0) that Zigbee positions label 3 is corresponded with the BIM model coordinate of building, is obtained
Zigbee positions the real time position in the BIM model of building of label 3, can watch quilt in real time by host computer operating platform 1
Survey personnel or object and can show historical track in the location information of building, thus to the position of personnel or object into
Row monitoring.
Revit secondary development goes out software dynamic camera, and walking path is the seat of the Zigbee positioning label 3 detected
Mark is realized BIM model following Zigbee positioning label 3 and is moved, further realizes BIM model and intuitively show that practical Zigbee is fixed
The position of position label 3, and establish dummy object at the coordinate and follow positioning coordinates of targets real mobile, reach monitoring effect.
The present invention solves that current indoor positioning is inaccurate, the not visible problem of indoor environment；Utilize Internet of Things more piece
Point location technology realizes low complex degree, the higher indoor positioning of precision, and combines BIM technology, can intuitively watch by positioning mesh
Position and ambient environmental conditions where marking.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as using the various improvement that the inventive concept and technical scheme of the present invention carry out, or not improved direct application
It is within the scope of the present invention in other occasions.
Claims (5)
1. positioning system in a kind of building based on BIM model, which is characterized in that including host computer operating platform (5),
Zigbee receives that base station (4), several Zigbee locating base stations, several are placed on personnel or object to be positioned
Zigbee positions label (3), and the BIM model of building is stored in the host computer operating platform (5), and the Zigbee is received
Base station (4) is connected with the host computer operating platform (5), and Zigbee positioning label (3) and Zigbee locating base station are wireless
Connection, the Zigbee locating base station and Zigbee receive base station (4) and are wirelessly connected.
2. positioning system in a kind of building based on BIM model according to claim 1, which is characterized in that described
Zigbee locating base station is divided into facade networking base station and flat network base station, and facade networking base station includes being distributed in building not
With several Zigbee facade locating base stations (2) in floor, flat network base station includes several being distributed in building
Zigbee plane positioning base station (1), Zigbee positioning label (3) and Zigbee plane positioning base station (1), Zigbee facade
The connection of locating base station (2) radio frequency signal.
3. positioning system in a kind of building based on BIM model according to claim 2, which is characterized in that described to build
The BIM model for building object is to be believed with Revit according to the real building object 1:1 three-dimensional information model established and subsidiary complete building
Breath.
4. positioning system in a kind of building based on BIM model according to claim 3, which is characterized in that on described
The dynamic software video camera developed in position machine operating platform (5) equipped with Revit, walking path are that the Zigbee detected determines
The path that the coordinate of position label (3) is formed.
5. the localization method of positioning system, feature exist in a kind of building as claimed in claim 4 based on BIM model
In specific steps are as follows:
S1, several Zigbee plane positioning base stations (1) are installed in the fixation position of the different floor levels of building, each
Zigbee facade locating base station (2) are installed in the inlet of floor, and Zigbee plane positioning base station (1), Zigbee facade position base
It stands (2) independence networking, detects the plane and facade coordinate value of Zigbee positioning label (3) respectively；
The personnel or object that S2, needs are positioned carry Zigbee positioning label (3) and enter building, into every Stall
When layer, the Zigbee facade locating base station (2) of floor inlet installation is first passed through, Zigbee positioning label (3) is constantly issued and penetrated
Frequency signal receives live signal to Zigbee facade locating base station (2), Zigbee facade locating base station (2), is based on signal strength
Telemetry makes Zigbee positioning mark according to this height to calculate coordinate value of the coordinate in facade of Zigbee positioning label (3)
Zigbee plane positioning base station (1) networking above (3) and corresponding floor is signed, and receives Zigbee plane positioning base station (1)
Signal and information, calculated according to signal strength telemetry and three side telemetrys Zigbee positioning label (3) coordinate exist
The coordinate value of plane；
The coordinate value that S3, Zigbee position label (3) is corresponded with the BIM model coordinate of building, obtains Zigbee positioning
Label (3) real time position in the BIM model of building, to be monitored to personnel positions or object space.
S4, dynamic software video camera in host computer operating platform (5) walking path be the Zigbee positioning label detected
(3) movement routine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254807.2A CN109298393A (en) | 2018-10-26 | 2018-10-26 | Positioning system and its localization method in a kind of building based on BIM model |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254807.2A CN109298393A (en) | 2018-10-26 | 2018-10-26 | Positioning system and its localization method in a kind of building based on BIM model |
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| CN201811254807.2A Pending CN109298393A (en) | 2018-10-26 | 2018-10-26 | Positioning system and its localization method in a kind of building based on BIM model |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110730422A (en) * | 2019-09-26 | 2020-01-24 | 深圳市天工测控技术有限公司 | UWB-based positioning method, device, system and terminal equipment |
| CN113099463A (en) * | 2021-03-28 | 2021-07-09 | 国网浙江省电力有限公司经济技术研究院 | UWB base station layout analysis system and method based on BIM and progress plan |
| CN113709860A (en) * | 2021-08-12 | 2021-11-26 | 电子科技大学 | Indoor positioning device and method for interlayer transition area |
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| CN110730422A (en) * | 2019-09-26 | 2020-01-24 | 深圳市天工测控技术有限公司 | UWB-based positioning method, device, system and terminal equipment |
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| CN113709860B (en) * | 2021-08-12 | 2022-06-03 | 电子科技大学 | Indoor positioning device and method for interlayer transition area |
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