CN109362039A - A kind of indoor orientation method based on bluetooth array - Google Patents
A kind of indoor orientation method based on bluetooth array Download PDFInfo
- Publication number
- CN109362039A CN109362039A CN201811406285.3A CN201811406285A CN109362039A CN 109362039 A CN109362039 A CN 109362039A CN 201811406285 A CN201811406285 A CN 201811406285A CN 109362039 A CN109362039 A CN 109362039A
- Authority
- CN
- China
- Prior art keywords
- array
- bluetooth
- signal
- data
- matrix
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H04W4/30—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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention belongs to fields of communication technology, disclose a kind of indoor orientation method based on bluetooth array, implementation step is: (1) measured data under the ecotopia in darkroom；(2) data for calculating the total-grid point under the ecotopia of darkroom, obtain bluetooth array manifold matrix；(3) measured data under actual indoor environment；(4) the interference data under true environment are filtered out by blue-teeth data frame format, retains effective blue-teeth data；(5) the bluetooth array steering vector of each frame data under practical indoor environment is calculated；(6) information source estimation is carried out with the method for sparse recovery；(7) orientation of information source；(8) information source is tracked.
Description
Technical field
The invention belongs to field of communication technology more particularly to a kind of indoor orientation methods based on bluetooth array, can be used for
Target positioning and tracking in complex indoor environment.
Background technique
In today's society production and life, it is desirable to anywheres at any time can obtain the letter oneself intentionally got
Breath or service, LBS (Location Based Service) location based service concept is suggested as a result,.
Currently, location technology is broadly divided into indoor positioning and outdoor positioning two major classes by the difference of scene.Outdoor positioning is
The location technology carried out under broad, unobstructed, unconfined outdoor environment, outdoor positioning technology is relatively mature at present.
Due to the influence of indoor various barriers, error is very big when traditional outdoor positioning technical application is to indoor positioning.
High-precision be positioned to for new hot spot how is indoors realized in complex environment.By many companies and group
Team is studied for a long time, and indoor positioning technologies mainly include RFID (Radio Frequency Identification), radio frequency
Identification positioning, the positioning of UWB (Ultra Wide Band) ultra wide band, ultrasonic wave positioning, Wifi positioning, Zigbee wireless sensor
Network positions, the positioning of Infrared infrared ray, the positioning of Bluetooth bluetooth etc..Some positioning systems utilize above-mentioned technology,
Precision can achieve decimetre even centimetre rank.But these systems need to increase additional dedicated unit auxiliary positioning, equipment
Increased costs are difficult to repair once going wrong.They can be only applied in special scene, be not easy to promote, hardly
It appears in production and living usually.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is to provide a kind of indoor orientation method based on bluetooth array,
It is able to solve positioning and the tracing problem of the target in complex indoor environment.
In order to achieve the above objectives, the present invention is realised by adopting the following technical scheme.
A kind of indoor orientation method based on bluetooth array, which comprises
Step 1, bluetooth array is set in dark room conditions, and measures the array stream of the bluetooth array in dark room conditions
Type matrix；
Step 2, indoor moving terminal is by carrying Bluetooth transmission Bluetooth signal, the letter of bluetooth described in the bluetooth array received
Number, the reception signal of the bluetooth array is obtained, the reception signal of the bluetooth array includes the Bluetooth signal and interference
Signal；
Step 3, the reception signal of the bluetooth array is demodulated, the reception signal after being demodulated, by the solution
The blue-teeth data that signal in reception signal after tune with blue-teeth data frame format is arrived as indoor bluetooth array received；
Step 4, according to the reception signal after the demodulation, the motion profile of indoor moving terminal is determined.
The characteristics of technical solution of the present invention and further improvement are as follows:
(1) step 1 specifically includes following sub-step:
It is the planar array comprising N number of array element that the bluetooth array, which is arranged, in (1a), and the planar array is placed on turntable vertically；
Probe is being installed in the bluetooth array preset range, probe moves from bottom to top in the vertical direction, and launch point
Frequency signal；
(1b) note probe height when described pop one's head in the bluetooth array center in same level is zero, when described
The rotation angle that turntable is denoted as when popping one's head in vertical with the bluetooth array is zero degree, and turntable is in the up time that rotation angle is zero degree
The rotation angle that needle direction is denoted as turntable is positive, and the rotation angle for being counterclockwise denoted as turntable is negative；
During (1c) turntable rotates within the scope of predetermined angle, probe, which emits primary point frequency every predetermined angle, to be believed
Number, until turntable has turned the predetermined angle range；Then probe moves upwards pre-determined distance；
(1d) repeats sub-step (1c), until probe reaches preset height；
Assuming that transmitting point-frequency signal at the M mesh point of probe in space, then obtains in space and connect at M mesh point
The data of receipts；By the received data storage of M mesh point in the space at the matrix of M × N, the matrix of the M × N is carried out
Interpolation obtains the matrix of P × N, obtains the array prevalence matrix S of bluetooth array according to the matrix of the P × N:
Wherein, the vector of m row N × 1 dimension is denoted as vm, vmIndicate the guiding arrow of the bluetooth array measured at m-th of mesh point
Amount, vm=(am1 am2 ...,amn,...amN), m=1,2 ..., P, P indicate mesh point number total in the bluetooth array of measurement.
(2) step 4 specifically includes following sub-step:
(4a) establishes sparse signal Restoration model: x=D β+n；
Wherein, x indicates that the frame blue-teeth data after demodulation, D indicate that dictionary matrix, the dictionary matrix are the battle array of bluetooth array
Column flow pattern matrix, n indicate noise matrix, and β indicates that P ties up vector to be solved, and the nonzero element in β is corresponding for the frame blue-teeth data
Information source angle；
(4b) determines the corresponding information source position of the frame data according to the information source angle that nonzero element in β represents；
Each frame blue-teeth data after (4b) demodulation respectively corresponds an information source position, the corresponding letter of all frame blue-teeth datas
The track that source position forms after connecting according to sequencing is the motion profile of mobile terminal.
The present invention can realize the positioning and tracking to target in complicated indoor environment, and error is on the left side 20-30cm
The right side, positioning accuracy are higher.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of indoor orientation method based on bluetooth array provided in an embodiment of the present invention；
Fig. 2 is the array manifold matrix norm type figure that bluetooth array is measured under dark room conditions；
Fig. 3 is Bluetooth signal demodulation result schematic diagram；
Fig. 4 is signal model schematic diagram；
Fig. 5 is the result schematic diagram of the indoor a certain sparse recovery of frame data；
Fig. 6 is the result schematic diagram of indoor positioning.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of indoor orientation method based on bluetooth array, as shown in Figure 1, the method packet
It includes:
Step 1, under dark room conditions bluetooth battle array array manifold measurement and interpolation.
Probe is moved in vertical direction, emits point-frequency signal, and probe moves from top to bottom, when probe and bluetooth array center
Being when in same level is highly 0cm, and turntable rotates in the direction of the clock, when hour angle vertical with bluetooth array front of popping one's head in
Degree is 0 degree, looks over from bluetooth array front to probe and rotates clockwise angle and be positive, rotated counterclockwise by angle is negative.Probe
Most start the bottom in selected range, turntable goes to 60 degree from -60 degree, and every 3 degree of surveys, one point, after having surveyed, probe rises
10cm, then turntable goes to 60 degree from -60 degree again, every 3 degree surveys, one point, and so on, it measures discrete azimuth lattice point and receives
To signal and data are stored, measure the top of selected range always.
By the data storage of each discrete azimuth lattice point of measurement at the matrix of a M × N, the data meter in matrix is recycled
Calculate the array manifold matrix S1 of bluetooth array:
Wherein, the steering vector v of each N × 1m=(am1 am2 … amN), m=1,2 ..., M indicate dark room conditions
The steering vector of the array measured at lower m-th of mesh point.
Due to popping one's head in and the mechanical movement of turntable is than relatively time-consuming, so the mesh point of darkroom measurement compares less, compare
Sparse, angle measurement when, which has, has bigger error, in order to improve the precision of DOA estimation, so that mesh point is become closeer,
Interpolation processing is carried out to the data of measurement, the data after then recycling interpolation acquire the array manifold matrix of bluetooth array.
Assuming that element number of array is N, the total number of the mesh point after interpolation is P, obtains the array manifold matrix of a P × N
S2:
Wherein, the steering vector v of each N × 1p=(ap1 ap2 … apN), p=1,2 ..., P are indicated to darkroom ring
The steering vector of the array of p-th of mesh point after the data interpolating measured under border.
Step 2, the acquisition of measured data.
Measured data is enrolled in complicated indoor environment, and bluetooth array is placed in indoor ceiling, is passed through
Bluetooth of mobile phone end 4.0 emits Bluetooth signal, and (this data have certain frame format, and purpose is exactly to receive this in receiving end
Kind signal, carries out subsequent demodulation localization process), track of passing by indoors, during walking, bluetooth array is always
In the signal for receiving the transmitting of mobile phone terminal bluetooth 4.0, during entire walking, then one frame data of bluetooth array received are located
Current frame data is managed, then receives next frame data, and so on.
Step 3, blue-teeth data demodulates.
The measurement data in actual indoor environment, since indoor environment is very complicated, not only only Bluetooth signal, also
The various interference signals such as Wifi, so to be demodulated to the data that bluetooth battle array receives.
The Bluetooth signal of mobile phone terminal is launched after GFSK Gaussian Frequency Shift Keying (GFSK) modulation by antenna.The letter of GFSK
It number can indicate are as follows:
Wherein, SGFSK(t) it represents and passes through the modulated modulated signal of GFSK Gaussian Frequency Shift Keying, ωcThe angular frequency of modulation is represented,It is the phase function of Bluetooth signal.
As it can be seen that SGFSK(t) two orthogonal part I (t) cos ω can be divided intocT and Q (t) sin ωcT, wherein I (t) and
It all include the information of Bluetooth signal in Q (t).
Receiving end is received with bluetooth array, accordingly original signal is demodulated in receiving end, receiving end
Circuit is demodulated by orthogonal double channels detection, and the Bluetooth signal of transmitting terminal is demodulated to come.
Firstly, to be mixed to the signal received, mixing is divided to two branches to carry out, upper branch SGFSK(t) with cos ωcT does mixing and obtains I (t), lower branch SGFSK(t) with sin ωcT does mixing and obtains Q (t), the signal that will be obtained after the mixing of lower branch
Q (t) obtains I (t) Q (t- by a multiplier with signal I (t) of the upper branch after being mixed after a delay cell
1), equally again by will after the mixing of upper branch obtained signal I (t) after a delay cell with upper branch after being mixed
Signal Q (t) obtains I (t-1) Q (t) by a multiplier, and the output end of two multipliers is connected to the defeated of an adder
Enter end, the signal before available sampling decision device indicates are as follows:
X (t)=I (t) Q (t-1)-I (t-1) Q (t)
=cos (θt)sin(θt-1)-cos(θt-1)sin(θt)
=sin (θt-1-θt)
Wherein, X (t) represents the signal of adder output, and I (t) indicates that the signal of current time upper branch, Q (t-1) are
The signal of branch have passed through the signal after a delay cell under current time, and I (t-1) is the signal warp of current time upper branch
Signal after having crossed a delay cell, Q (t) are the signal of branch under current time, θtIt is the phase of current time Bluetooth signal
Position information, θt-1It is the phase information of signal of the current Bluetooth signal after a delay cell.
As can be seen that the differential phase θ of X (t)t-1-θtIn include blue-teeth data information, X (t) is connected to one 0
Thresholding decision device of sampling if the amplitude of X (t) exports 1 less than 0, if the amplitude of X (t) is greater than 0, exports 0, last
As soon as output is exactly the sequence being made of 0 and 1 two code elements, 01 yard of sequence for most starting the Bluetooth signal sent has at this moment been obtained
Column.
The frame format for demodulating the Bluetooth signal and blue-teeth data that come is compared again, for broadcast channel, data
32 access addresses be 01101011011111011001000101110001,8 lead codes of data are 01010101, number
According to header be also one 16 determination grouping of bits, using blue-teeth data these features can by Bluetooth signal with
Wifi signal or other interference signals distinguish, and finally only retain Bluetooth signal.
Assuming that blue-teeth data demodulate and obtained after comparing this current frame data be it is wrong, then this frame data is not
Blue-teeth data then gives up this frame data fall；Assuming that the data that blue-teeth data demodulated and obtained after comparing this current frame are
Correctly, then retaining this frame data, by I (t) obtained in demodulator circuit as the real part for receiving data, Q (t) is used as and connects
The imaginary part of data is received, some data received can indicate are as follows:
For this is data, it is assumed that first antenna can receive K sample number within the sampling time that it is fixed
According to this K data can be expressed asBeing averaged respectively to the amplitude-phase of these data can
To obtain the response of this first antenna of frame data
The array response for equally handling this available frame blue-teeth data is done to different antennae:
V=(a1 a2 … aN)
Step 4, super resolution algorithm estimates information source angle.
It is considered that the array manifold measured under dark room conditions at all mesh points is a dictionary matrix, sky represent
Between all angles source signal bluetooth array response, the data measured under each frame indoor environment are all an information sources,
The problem of estimating information source angle can be regarded as a problem of sparse signal restores, and the model of sparse recovery is as follows:
X=D β+n
Wherein, x is the effective blue-teeth data of a certain frame measured under practical indoor environment, and D is dictionary matrix, represents sky
Between all angles source signal bluetooth array response, n is noise matrix, and β is that P ties up vector to be solved, non-zero in β
Element is exactly the angle of information source, passes through rapid convergence management loading algorithm (Fast Converging Sparse
Bayesian Learning) it is estimated that the angle of each frame valid data information source, this is a kind of algorithm of iteration, this
Algorithm makes solution vector β more and more sparse, until obtaining sparse solution to the end.
Step 5, orientation of information source.
Represent the sound of the bluetooth array of the source signal of space all angles in dictionary matrix in sparse Restoration model
It answers, the bluetooth array of the source signal of some angle in space is just corresponded to by the available solution of the method for sparse recovery
Response, it can obtain azimuth angle theta and the angle of site of the information source relative to antenna arrayEstablished seat is updated to by angle information
In mark system can both calculate the position of information source, if established when darkroom measures coordinate system and actual measurement when established
Coordinate system is different, then also relating to the conversion between coordinate system when calculating information source position；
Step 6, information source tracks.
During information source moves indoors, bluetooth battle array can acquire the effective blue-teeth data of many frames, each frame bluetooth number
According to the position of the information source all corresponded in space, the track that these positions are constituted is exactly the mobile track of information source, information source with
The algorithm that track uses is α β filtering, then removes some singular points by the control of wave door, may finally be obtained by tracing algorithm
One more smooth track.
Effect of the invention is described further below with reference to analogous diagram.
1. simulated conditions:
The environment of emulation experiment of the present invention are as follows: 7 professional version of MATLAB R2017a, Window.
2. emulation content and interpretation of result:
Fig. 2 is the measurement model figure in darkroom, and probe is moved in vertical direction, emits point-frequency signal, and probe is transported from top to bottom
Dynamic, lowest point position is -180cm, and being when probe and array center are in same level is highly 0cm, and turntable presses up time
Needle direction rotates, and when popping one's head in vertical with array front, angle is 0 degree, looks over from array front to probe and rotates clockwise angle
Degree is positive, and rotated counterclockwise by angle is negative.Probe most starts the bottom in selected range, and turntable goes to 60 degree from -60 degree, often
Every 3 degree of surveys, one point, after having surveyed, probe rises 10cm, and then turntable goes to 60 degree from -60 degree again, every 3 degree of surveys, one point,
And so on, it measures the signal that discrete azimuth lattice point receives and stores data, measuring height always is at 120cm；
Height is converted into the angle of site according to geometrical relationship, logarithm carries out interpolation on azimuth and the angle of site respectively, inserts
Data after value are equivalent to probe and move from top to bottom, and the angle of site rises once every time, from -50 degree to 38 degree；Turntable presses up time
Needle direction rotates, and turntable goes to 60 degree from -60 degree, every 1 degree of point, then 121 azimuths is measured at each angle of site
The data at place have surveyed altogether the data at 89 angles of site.
When measuring indoors, bluetooth battle array is placed in experiment indoor ceiling, people holds mobile phone and walks below bluetooth battle array
Straight line is crossed,
It is the model of emulation above, by the processing to the above simulation model data, available following processing result.
Fig. 3 is blue-teeth data demodulation result figure, the differential phase θ of received signaln-1-θnIn include blue-teeth data
Information, therefore the differential phase that can use reception signal demodulates Bluetooth signal to come, and calculates the differential phase of signal, then
Quantified, extracts, the blue-teeth data of present frame can be obtained.
Fig. 4 is signal model figure, and o point is antenna array position, and P point is information source position, and θ is side of the information source relative to antenna array
Parallactic angle,It is the angle of site of the information source relative to antenna array.
Fig. 5 is the result figure of the sparse recovery of measured data in a certain frame room, and abscissa is the angle of site of information source, and ordinate is
The azimuth of information source should be theoretically one non-zero in solution vector β, other are all 0, but in practice due to various interference
It influences, is usually the direction for selecting maximum value in vector β to estimate information source, vector β according to the pass with azimuth and the angle of site
System is divided into one 121 × 89 matrix, and the result figure of sparse recovery can be obtained, and the angle of site of information source and azimuth be all in Fig. 5
About 0, this is because this frame information source of choosing is probably in underface of antenna array or so, information source angle as can be seen from the results
The effect for spending estimation is relatively good.
Fig. 6 is indoor positioning result figure, it can be seen that finally obtained track is the approximation straight line parallel with z-axis,
And the track that information source is passed by when measuring indoors is a straight line parallel with z-axis nearly through bluetooth battle array center.Error compared with
It is small, it is 20cm or so, finally obtained track matches with actual path.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (3)
1. a kind of indoor orientation method based on bluetooth array, which is characterized in that the described method includes:
Step 1, bluetooth array is set in dark room conditions, and measures the array manifold square of the bluetooth array in dark room conditions
Battle array；
Step 2, indoor moving terminal is by carrying Bluetooth transmission Bluetooth signal, Bluetooth signal described in the bluetooth array received,
The reception signal of the bluetooth array is obtained, the reception signal of the bluetooth array includes the Bluetooth signal and interference letter
Number；
Step 3, the reception signal of the bluetooth array is demodulated, the reception signal after being demodulated, after the demodulation
Reception signal in the signal with blue-teeth data frame format as the blue-teeth data that arrives of interior bluetooth array received；
Step 4, according to the reception signal after the demodulation, the motion profile of indoor moving terminal is determined.
2. a kind of indoor orientation method based on bluetooth array according to claim 1, which is characterized in that the step 1
Specifically include following sub-step:
It is the planar array comprising N number of array element that the bluetooth array, which is arranged, in (1a), and the planar array is placed on turntable vertically；Away from
From probe is equipped in the bluetooth array preset range, probe moves from bottom to top in the vertical direction, and launch point frequency is believed
Number；
(1b) note probe height when described pop one's head in the bluetooth array center in same level is zero, when the probe
The rotation angle that turntable is denoted as when vertical with the bluetooth array is zero degree, and turntable is in the side clockwise that rotation angle is zero degree
It is positive to the rotation angle for being denoted as turntable, the rotation angle for being counterclockwise denoted as turntable is negative；
During (1c) turntable rotates within the scope of predetermined angle, probe emits a point-frequency signal every predetermined angle, directly
The predetermined angle range is turned to turntable；Then probe moves upwards pre-determined distance；
(1d) repeats sub-step (1c), until probe reaches preset height；
Assuming that transmitting point-frequency signal at the M mesh point of probe in space, then obtain received at M mesh point in space
Data；By the received data storage of M mesh point in the space at the matrix of M × N, interpolation is carried out to the matrix of the M × N
The matrix of P × N is obtained, the array prevalence matrix S of bluetooth array is obtained according to the matrix of the P × N:
Wherein, the vector of m row N × 1 dimension is denoted as vm, vmIndicate the steering vector of bluetooth array measured at m-th of mesh point,
vm=(am1 am2..., amn... amN), m=1,2 ..., P, P indicate mesh point number total in the bluetooth array of measurement.
3. a kind of indoor orientation method based on bluetooth array according to claim 2, which is characterized in that step 4 is specific
Including following sub-step:
(4a) establishes sparse signal Restoration model: x=D β+n；
Wherein, x indicates that the frame blue-teeth data after demodulation, D indicate that dictionary matrix, the dictionary matrix are the array stream of bluetooth array
Type matrix, n indicate noise matrix, and β indicates that P ties up vector to be solved, and the nonzero element in β is the corresponding letter of frame blue-teeth data
Source angle；
(4b) determines the corresponding information source position of the frame data according to the information source angle that nonzero element in β represents；
Each frame blue-teeth data after (4b) demodulation respectively corresponds an information source position, the corresponding source bits of all frame blue-teeth datas
Set the motion profile that the track formed after connecting according to sequencing is mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811406285.3A CN109362039B (en) | 2018-11-23 | 2018-11-23 | Indoor positioning method based on Bluetooth array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811406285.3A CN109362039B (en) | 2018-11-23 | 2018-11-23 | Indoor positioning method based on Bluetooth array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109362039A true CN109362039A (en) | 2019-02-19 |
| CN109362039B CN109362039B (en) | 2022-09-16 |
Family
ID=65338608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811406285.3A Active CN109362039B (en) | 2018-11-23 | 2018-11-23 | Indoor positioning method based on Bluetooth array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109362039B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120258741A1 (en) * | 2011-04-07 | 2012-10-11 | Compass Auto Tracker, Llc. | Apparatus and Method for Using a Wireless Mobile Handset Application to Locate Beacons |
| CN102982555A (en) * | 2012-11-01 | 2013-03-20 | 江苏科技大学 | Guidance infrared small target tracking method based on self-adaption manifold particle filters |
| WO2013181509A1 (en) * | 2012-06-01 | 2013-12-05 | Petari USA, Inc. | Method and system for airplane container tracking |
| CN105319532A (en) * | 2015-07-03 | 2016-02-10 | 上海博冕科技有限公司 | Bluetooth high-precision three-dimensional positioning system based on array-type directional antennas |
| CN106097381A (en) * | 2016-05-27 | 2016-11-09 | 北京理工大学 | A kind of method for tracking target differentiating Non-negative Matrix Factorization based on manifold |
| CN106507473A (en) * | 2016-11-01 | 2017-03-15 | 南京工程学院 | A kind of indoor orientation method and device based on compressed sensing algorithm |
| CN107505594A (en) * | 2017-09-21 | 2017-12-22 | 深圳市昇润科技有限公司 | Bluetooth alignment system, bluetooth localization method and Bluetooth antenna array therein |
-
2018
- 2018-11-23 CN CN201811406285.3A patent/CN109362039B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120258741A1 (en) * | 2011-04-07 | 2012-10-11 | Compass Auto Tracker, Llc. | Apparatus and Method for Using a Wireless Mobile Handset Application to Locate Beacons |
| WO2013181509A1 (en) * | 2012-06-01 | 2013-12-05 | Petari USA, Inc. | Method and system for airplane container tracking |
| CN102982555A (en) * | 2012-11-01 | 2013-03-20 | 江苏科技大学 | Guidance infrared small target tracking method based on self-adaption manifold particle filters |
| CN105319532A (en) * | 2015-07-03 | 2016-02-10 | 上海博冕科技有限公司 | Bluetooth high-precision three-dimensional positioning system based on array-type directional antennas |
| CN106097381A (en) * | 2016-05-27 | 2016-11-09 | 北京理工大学 | A kind of method for tracking target differentiating Non-negative Matrix Factorization based on manifold |
| CN106507473A (en) * | 2016-11-01 | 2017-03-15 | 南京工程学院 | A kind of indoor orientation method and device based on compressed sensing algorithm |
| CN107505594A (en) * | 2017-09-21 | 2017-12-22 | 深圳市昇润科技有限公司 | Bluetooth alignment system, bluetooth localization method and Bluetooth antenna array therein |
Non-Patent Citations (4)
| Title |
|---|
| JAN PELANT等: "BLE device indoor localization based on RSS fingerprinting mapped by propagation modes", 《2017 27TH INTERNATIONAL CONFERENCE RADIOELEKTRONIKA (RADIOELEKTRONIKA)》 * |
| 张平川: "无源探测系统及其关键技术研究", 《中国博士学位论文全文数据库信息科技辑》 * |
| 毕京学: "室内定位无线接收信号强度测距模型的研究", 《导航定位学报》 * |
| 洪志烜: "基于空域频域联合处理的WiFi室内定位技术", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109362039B (en) | 2022-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104812061B (en) | A kind of indoor ranging and localization method based on MIMO-OFDM channel state information | |
| CN103842840B (en) | The method of mobile device and operation mobile device | |
| López et al. | A received signal strength RFID-based indoor location system | |
| EP2975892B1 (en) | Mobile terminal, and locating method and device | |
| CN102932742B (en) | Based on indoor orientation method and the system of inertial sensor and wireless signal feature | |
| CN102045837B (en) | Mobile node positioning method and device | |
| CN106792808A (en) | Los path recognition methods under a kind of indoor environment based on channel condition information | |
| CN109490826B (en) | Ranging and position positioning method based on radio wave field intensity RSSI | |
| CN102802260A (en) | WLAN indoor positioning method based on matrix correlation | |
| CN104076349A (en) | Passive type moving target locating method on the basis of Doppler frequency shift | |
| US8577362B2 (en) | System and method for quantifying anchor placement impact placement on location accuracy | |
| CN101272605A (en) | Mobile terminal locating method and positioning device | |
| CN107332800A (en) | Modulate accurate wireless transmission scheme in a kind of direction selected based on random sub carrier wave | |
| CN109640262B (en) | Positioning method, system, equipment and storage medium based on mixed fingerprints | |
| CN109819394A (en) | Based on the WiFi indoor orientation method mixed with ultrasonic wave and its system | |
| Li et al. | Fast indoor localization for exhibition venues with calibrating heterogeneous mobile devices | |
| Whiton et al. | Urban navigation with LTE using a large antenna array and machine learning | |
| CN104066172A (en) | Method for positioning AP in wireless local area network | |
| Redžić et al. | SEAMLOC: Seamless indoor localization based on reduced number of calibration points | |
| CN108989985A (en) | High-accuracy position system and localization method in single node room | |
| CN104540219A (en) | Wi-Fi fingerprint indoor positioning method low in complexity | |
| Pihlajasalo et al. | Absolute positioning with unsupervised multipoint channel charting for 5G networks | |
| CN106507313A (en) | A kind of method for tracking and positioning detected based on RSSI and system | |
| Popleteev | Improving ambient FM indoor localization using multipath-induced amplitude modulation effect: A year-long experiment | |
| CN108549049A (en) | A kind of the Bayes's fingerprint positioning method and device of ray tracing auxiliary |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |