CN109362039B - Indoor positioning method based on Bluetooth array - Google Patents
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- CN109362039B CN109362039B CN201811406285.3A CN201811406285A CN109362039B CN 109362039 B CN109362039 B CN 109362039B CN 201811406285 A CN201811406285 A CN 201811406285A CN 109362039 B CN109362039 B CN 109362039B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- 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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- H—ELECTRICITY
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- 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
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Abstract
The invention belongs to the technical field of communication, and discloses an indoor positioning method based on a Bluetooth array, which comprises the following implementation steps: (1) measuring data in an ideal environment of a darkroom; (2) calculating data of all grid points in an ideal environment of a darkroom to obtain a Bluetooth array flow pattern matrix; (3) measuring data in an actual indoor environment; (4) filtering out interference data in a real environment through a Bluetooth data frame format, and reserving effective Bluetooth data; (5) calculating a Bluetooth array steering vector of each frame of data under the actual indoor environment; (6) performing information source estimation by using a sparse recovery method; (7) positioning an information source; (8) and (4) source tracking.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to an indoor positioning method based on a Bluetooth array, which can be used for positioning and tracking targets in a complex indoor environment.
Background
In the current social production and life, people want to obtain information or services they want at any time and any place, and therefore, a location Based service (lbs) concept is proposed.
Currently, positioning technologies are mainly classified into two categories, indoor positioning and outdoor positioning, according to different scenes. Outdoor positioning is a positioning technology performed in a wide, unshielded and unconstrained outdoor environment, and the existing outdoor positioning technology is relatively mature. Due to the influence of various indoor obstacles, the conventional outdoor positioning technology has a large error when applied to indoor positioning.
How to achieve high-precision positioning in indoor complex environments becomes a new hotspot. After long-term research by many companies and teams, the indoor positioning technology mainly includes rfid (radio Frequency identification), radio Frequency identification positioning, uwb (ultra Wide band) ultra Wide band positioning, ultrasonic positioning, Wifi positioning, Zigbee wireless sensor network positioning, infra Infrared positioning, Bluetooth positioning, and the like. Some positioning systems utilize the above techniques with an accuracy on the order of decimeters or even centimeters. However, these systems require additional special devices to assist in positioning, increase equipment costs, and are difficult to repair once problems arise. They can only be applied in special scenes, are not easy to popularize and hardly appear in ordinary production and life.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide an indoor positioning method based on bluetooth array, which can solve the problems of positioning and tracking targets in a complex indoor environment.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
A bluetooth array based indoor positioning method, the method comprising:
step 3, demodulating the received signals of the Bluetooth array to obtain demodulated received signals, and taking the signals with the Bluetooth data frame format in the demodulated received signals as the Bluetooth data received by the indoor Bluetooth array;
and 4, determining the motion track of the indoor mobile terminal according to the demodulated received signal.
The technical scheme of the invention has the characteristics and further improvements that:
(1) the step 1 specifically comprises the following substeps:
(1a) setting the Bluetooth array as a planar array comprising N array elements, wherein the planar array is vertically placed on a rotary table; a probe is arranged in a preset range from the Bluetooth array, moves from bottom to top in the vertical direction and transmits a point frequency signal;
(1b) recording the height of the probe to be zero when the probe and the center of the Bluetooth array are on the same horizontal plane, recording the rotation angle of the rotary table to be zero when the probe is vertical to the Bluetooth array, recording the rotation angle of the rotary table to be positive in the clockwise direction when the rotation angle is zero, and recording the rotation angle of the rotary table to be negative in the anticlockwise direction;
(1c) in the process that the rotary table rotates within the preset angle range, the probe transmits a dot frequency signal every other preset angle until the rotary table rotates within the preset angle range; then the probe moves upwards for a preset distance;
(1d) repeating the substep (1c) until the probe reaches a preset height;
assuming that the probe transmits point frequency signals at M grid points in the space, acquiring data received at the M grid points in the space; storing data received by M grid points in the space into an MxN matrix, interpolating the MxN matrix to obtain a PxN matrix, and obtaining an array flow pattern matrix S of the Bluetooth array according to the PxN matrix:
wherein, the vector of the m-th line with dimension of N multiplied by 1 is marked as v m ，v m Represents the measurement at the m-th grid pointOf the bluetooth array, v m ＝(a m1 a m2 ...,a mn ,...a mN ) And m is 1,2, and P represents the total number of mesh points in the measured bluetooth array.
(2) The step 4 specifically comprises the following substeps:
(4a) establishing a sparse signal recovery model: x ═ D β + n;
wherein, x represents a frame of demodulated Bluetooth data, D represents a dictionary matrix, the dictionary matrix is an array flow matrix of a Bluetooth array, n represents a noise matrix, beta represents a P-dimensional vector to be solved, and non-zero elements in the beta are source angles corresponding to the frame of Bluetooth data;
(4b) determining the source position corresponding to the frame data according to the source angle represented by the nonzero element in the beta;
(4b) each demodulated frame of Bluetooth data corresponds to an information source position respectively, and the track formed by connecting the information source positions corresponding to all the frames of Bluetooth data according to the sequence is the motion track of the mobile terminal.
The invention can realize the positioning and tracking of the target in a complex indoor environment, the error is about 20-30cm, and the positioning precision is higher.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an indoor positioning method based on a bluetooth array according to an embodiment of the present invention;
FIG. 2 is a model diagram of an array flow pattern matrix for measuring a Bluetooth array in a darkroom environment;
FIG. 3 is a diagram illustrating the result of a Bluetooth signal demodulation;
FIG. 4 is a schematic diagram of a signal model;
FIG. 5 is a diagram illustrating the result of sparse recovery of a certain frame of data indoors;
fig. 6 is a diagram illustrating the results of indoor positioning.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides an indoor positioning method based on a bluetooth array, as shown in fig. 1, the method includes:
The probe moves in the vertical direction, transmits the dot-frequency signal, and the probe moves from bottom to top, and for highly being 0cm when probe and bluetooth array center are on same horizontal plane, the revolving stage is rotatory according to the clockwise, and the angle is 0 degree when probe and bluetooth array position are perpendicular, and it is positive to see clockwise rotation angle to the probe from bluetooth array position, and anticlockwise rotation angle is the burden. The probe is firstly positioned at the lowest part of the selected range, the rotary table rotates from-60 degrees to 60 degrees, one point is measured every 3 degrees, after the measurement is finished, the probe rises by 10cm, then the rotary table rotates from-60 degrees to 60 degrees, one point is measured every 3 degrees, and the like, signals received by the discrete orientation grid points are measured, data are stored, and the highest part of the selected range is measured.
Storing the measured data of each discrete orientation lattice point into an M multiplied by N matrix, and then calculating an array flow pattern matrix S1 of the Bluetooth array by using the data in the matrix:
wherein each N × 1 steering vector v m ＝(a m1 a m2 … a mN ) M1, 2.. M, denotes the steering vector of the measured array at the mth grid point in the darkroom environment.
Because the mechanical movement of the probe and the rotary table is time-consuming, the grid points measured in a darkroom are relatively few and sparse, and a large error exists during angle measurement, in order to improve the accuracy of DOA estimation, the grid points need to be denser, the measured data needs to be interpolated, and then the interpolated data is used for obtaining the array flow pattern matrix of the Bluetooth array.
Assuming that the number of array elements is N and the total number of the grid points after interpolation is P, obtaining a P × N array flow pattern matrix S2:
wherein each N × 1 steering vector v p ＝(a p1 a p2 … a pN ) P is 1, 2.. times.p, which represents a steering vector for the array of the P-th grid point after interpolation of the data measured in the darkroom environment.
And 2, acquiring measured data.
The measured data is recorded in a complex indoor environment, the Bluetooth array is placed on an indoor ceiling, Bluetooth signals are transmitted through the Bluetooth end 4.0 of the mobile phone (the data has a certain frame format, and the purpose is to receive the signals at the receiving end and perform subsequent demodulation and positioning processing), the mobile phone walks through a track indoors, the Bluetooth array always receives the signals transmitted by the Bluetooth 4.0 of the mobile phone end in the walking process, the Bluetooth array receives one frame of data in the whole walking process, then processes the current frame of data, then receives the next frame of data, and the like.
And 3, demodulating the Bluetooth data.
Data are measured in the actual indoor environment, and due to the fact that the indoor environment is complex, not only are Bluetooth signals, but also various interference signals such as Wifi exist, data received by a Bluetooth array need to be demodulated.
The Bluetooth signal of the mobile phone end is modulated by Gaussian Frequency Shift Keying (GFSK) and then transmitted out through an antenna. The signal of GFSK can be expressed as:
wherein S is GFSK (t) represents the modulated signal after Gaussian frequency shift keying modulation, omega c Which represents the angular frequency of the modulation,
is a function of the phase of the bluetooth signal.
It can be seen that S GFSK (t) can be divided into two orthogonal parts I (t) cos omega c t and Q (t) sin ω c t, wherein I (t) and Q (t) both contain information of Bluetooth signals.
The receiving end receives by using a Bluetooth array, correspondingly, the original signal is demodulated at the receiving end, and a circuit of the receiving end demodulates by orthogonal double-channel detection and demodulates the Bluetooth signal at the transmitting end.
First, the received signal is mixed, the mixing being performed in two branches, the upper branch S GFSK (t) and cos omega c t is mixed to obtain I (t) and the lower branch S GFSK (t) and sin ω c t is mixed to obtain Q (t), a signal Q (t) obtained after the lower branch is mixed with frequency of the upper branch is subjected to frequency mixing through a delay unit and then is subjected to frequency mixing with a signal I (t) obtained after the upper branch is subjected to frequency mixing through a multiplier to obtain I (t-1) Q (t), the signal I (t) obtained after the upper branch is mixed with frequency of the signal Q (t) obtained after the upper branch is subjected to frequency mixing through a delay unit and then is subjected to frequency mixing through a multiplier to obtain I (t-1) Q (t), and the output ends of the two multipliers are connected to the input end of an adder, so that signals before a sampling decision device can be obtained, and are expressed as:
X(t)＝I(t)Q(t-1)-I(t-1)Q(t)
＝cos(θ t )sin(θ t-1 )-cos(θ t-1 )sin(θ t )
＝sin(θ t-1 -θ t )
wherein X (t) represents additionThe signal of the output end of the method, I (t) represents the signal of the upper branch at the current time, Q (t-1) is the signal of the lower branch at the current time after passing through a delay unit, I (t-1) is the signal of the upper branch at the current time after passing through a delay unit, Q (t) is the signal of the lower branch at the current time, and theta (t) is the signal of the lower branch at the current time t Is the phase information of the Bluetooth signal at the present moment, theta t-1 Is the phase information of the current bluetooth signal after passing through a delay unit.
It can be seen that the differential phase θ of X (t) t-1 -θ t The information containing Bluetooth data is connected with X (t) to a 0 threshold sampling decision device, if the amplitude of X (t) is less than 0, 1 is output, if the amplitude of X (t) is more than 0, 0 is output, the final output is a sequence formed by two code elements of 0 and 1, and then the 01 code sequence of the Bluetooth signal which is transmitted at the beginning is obtained.
And comparing the frame format of the demodulated Bluetooth signal with that of the Bluetooth data, wherein for a broadcast channel, the 32-bit access address of the data is 01101011011111011001000101110001, the 8-bit preamble of the data is 01010101, the header of the data is a determined code element combination of 16 bits, the characteristics of the Bluetooth data can be used for distinguishing the Bluetooth signal from a Wifi signal or other interference signals, and finally only the Bluetooth signal is reserved.
If the data of the current frame obtained after the Bluetooth data is demodulated and compared is wrong, the frame data is not the Bluetooth data, and the frame data is discarded; if the data of the current frame obtained by demodulating and comparing the bluetooth data is correct, the data of the frame is retained, i (t) obtained in the demodulation circuit is used as a real part of the received data, q (t) is used as an imaginary part of the received data, and one of the received data can be represented as:
for this frame of data, assume that the first antenna receives K sample data within its fixed sample time, which K data may representIs composed of
Averaging the amplitude and phase of the data to obtain the first antenna response of the frame
The same processing for different antennas results in an array response for this frame of bluetooth data:
v＝(a 1 a 2 … a N )
and 4, estimating the source angle by a super-resolution algorithm.
The measured array flow pattern at all grid points in the darkroom environment can be considered as a dictionary matrix representing the response of the bluetooth array of the source signal at each angle in space, the measured data in each frame of the indoor environment is a source, the problem of estimating the source angle can be considered as a problem of sparse signal recovery, and the model of the sparse recovery is as follows:
x＝Dβ+n
wherein, x is a frame of effective bluetooth data measured under an actual indoor environment, D is a dictionary matrix representing the response of the bluetooth array of the source signal at each angle in space, n is a noise matrix, β is a vector to be solved in P dimension, and the element other than 0 in β is the angle of the source.
And 5, positioning the information source.
The dictionary matrix in the sparse recovery model represents the response of the Bluetooth array of the information source signal of each angle in space, and the solution obtained by the sparse recovery method corresponds to the response of the Bluetooth array of the information source signal of a certain angle in space, namely the azimuth angle theta and the height of the information source relative to the antenna array can be obtainedCorner
The position of the information source can be calculated by substituting the angle information into the established coordinate system, if the established coordinate system during darkroom measurement is different from the coordinate system established during actual measurement, the conversion between the coordinate systems is involved in the calculation of the position of the information source;
and 6, tracking the information source.
In the process that the information source moves indoors, the Bluetooth array collects a plurality of frames of effective Bluetooth data, each frame of Bluetooth data corresponds to the position of one information source in the space, the track formed by the positions is the moving track of the information source, the information source tracking adopts alpha beta filtering as an algorithm, singular points are removed through the control of a wave gate, and a smoother track can be finally obtained through a tracking algorithm.
The effect of the present invention will be further described with reference to the simulation diagram.
1. Simulation conditions are as follows:
the environment of the simulation experiment of the invention is as follows: MATLAB R2017a, Window 7 professional edition.
2. Simulation content and result analysis:
FIG. 2 is a diagram of a measurement model of a darkroom, wherein a probe moves in a vertical direction, transmits a spot frequency signal, the probe moves from bottom to top, the lowest position is-180 cm, the height of the probe and the center of an array is 0cm when the probe and the center of the array are on the same horizontal plane, a turntable rotates clockwise, the angle of the probe when the probe is perpendicular to an array surface is 0 degree, the clockwise rotation angle is positive when the probe is seen from the array surface to the probe, and the counterclockwise rotation angle is negative. Firstly, the probe is positioned at the lowest part of the selected range, the turntable rotates from-60 degrees to 60 degrees, one point is measured at intervals of 3 degrees, after the measurement is finished, the probe rises by 10cm, then the turntable rotates from-60 degrees to 60 degrees, one point is measured at intervals of 3 degrees, and the like, signals received by the grid points of the discrete directions are measured, data are stored, and the position with the height of 120cm is measured;
converting the height into a high-low angle according to a geometric relation, and carrying out logarithmic interpolation on the azimuth angle and the high-low angle respectively, wherein the interpolated data is equivalent to that the probe moves from bottom to top, and the high-low angle rises by one degree from-50 degrees to 38 degrees each time; the turntable rotates clockwise, the turntable rotates from-60 degrees to 60 degrees, and data at 121 azimuth angles are measured at each high-low angle every 1 degree, and data at 89 high-low angles are measured in total.
When measuring in the room, place the bluetooth battle array on the laboratory ceiling, the people holds the cell-phone and walks a straight line in bluetooth battle array below.
The above is a simulation model, and the following processing results can be obtained by processing the above simulation model data.
FIG. 3 is a graph of the results of Bluetooth data demodulation, the differential phase θ of the received signal n-1 -θ n The Bluetooth data is information containing Bluetooth data, so that the Bluetooth signals can be demodulated by using the differential phase of the received signals, the differential phase of the signals is calculated, and then quantization and extraction are carried out, so that the Bluetooth data of the current frame can be obtained.
Fig. 4 is a diagram of a signal model, point o is the antenna array position, point P is the source position, theta is the azimuth angle of the source relative to the antenna array,
is the elevation angle of the source with respect to the antenna array.
Fig. 5 is a result diagram of sparse recovery of measured data in a certain frame of indoor space, where the abscissa is the elevation angle of the source, the ordinate is the azimuth angle of the source, theoretically, the solution vector β should be a non-0, and the others are all 0, but in practice, due to the influence of various interferences, the maximum value in the vector β is usually selected to estimate the direction of the source, and the vector β is divided into a 121 × 89 matrix according to the relationship with the azimuth angle and the elevation angle, so as to obtain a result diagram of sparse recovery, and the elevation angle and the azimuth angle of the source in fig. 5 are all approximately 0, because the selected frame source is approximately right below the antenna array, and it can be seen from the result that the effect of estimation of the source angle is relatively good.
Fig. 6 is a graph of the indoor positioning results, and it can be seen that the resulting trajectory is a straight line approximately parallel to the z-axis, whereas the trajectory traveled by the source during indoor measurements is a straight line approximately through the center of the bluetooth array and parallel to the z-axis. The error is small and is about 20cm, and the finally obtained track is identical with the actual track.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (2)
1. An indoor positioning method based on a Bluetooth array, the method comprising:
step 1, setting a Bluetooth array in a darkroom environment, and measuring an array flow pattern matrix of the Bluetooth array in the darkroom environment;
step 2, the indoor mobile terminal transmits a Bluetooth signal through a self-contained Bluetooth, the Bluetooth array receives the Bluetooth signal and acquires a receiving signal of the Bluetooth array, and the receiving signal of the Bluetooth array comprises the Bluetooth signal and an interference signal;
step 3, demodulating the received signals of the Bluetooth array to obtain demodulated received signals, and taking the signals with the Bluetooth data frame format in the demodulated received signals as the Bluetooth data received by the indoor Bluetooth array;
step 4, determining the motion track of the indoor mobile terminal according to the demodulated received signal;
the step 1 specifically comprises the following substeps:
(1a) setting the Bluetooth array as a planar array comprising N array elements, wherein the planar array is vertically placed on a rotary table; a probe is arranged in a preset range from the Bluetooth array, moves from bottom to top in the vertical direction and transmits a point frequency signal;
(1b) recording the height of the probe to be zero when the probe and the center of the Bluetooth array are on the same horizontal plane, recording the rotation angle of the rotary table to be zero when the probe is vertical to the Bluetooth array, recording the rotation angle of the rotary table to be positive in the clockwise direction when the rotation angle is zero, and recording the rotation angle of the rotary table to be negative in the anticlockwise direction;
(1c) in the process that the rotary table rotates within the preset angle range, the probe transmits a dot frequency signal every other preset angle until the rotary table rotates within the preset angle range; then the probe moves upwards for a preset distance;
(1d) repeating the substep (1c) until the probe reaches a preset height;
assuming that the probe transmits point frequency signals at M grid points in the space, acquiring data received at the M grid points in the space; storing data received by M grid points in the space into an MxN matrix, interpolating the MxN matrix to obtain a PxN matrix, and obtaining an array flow pattern matrix S of the Bluetooth array according to the PxN matrix:
wherein, the vector of Nx 1 dimension in the mth row is denoted as v m ，v m Indicating the steering vector, v, of the measured Bluetooth array at the m-th grid point m ＝(a m1 a m2 ...,a mn ,...a mN ) And m is 1,2, and P represents the total number of mesh points in the measured bluetooth array.
2. The indoor positioning method based on the bluetooth array as claimed in claim 1, wherein step 4 specifically includes the following sub-steps:
(4a) establishing a sparse signal recovery model: x ═ D β + n;
wherein, x represents a frame of demodulated Bluetooth data, D represents a dictionary matrix, the dictionary matrix is an array flow matrix of a Bluetooth array, n represents a noise matrix, beta represents a P-dimensional vector to be solved, and a non-zero element in the beta is an information source angle corresponding to the frame of Bluetooth data;
(4b) determining the source position corresponding to the frame data according to the source angle represented by the nonzero element in the beta;
(4b) each demodulated frame of Bluetooth data corresponds to an information source position respectively, and the track formed by connecting the information source positions corresponding to all the frames of Bluetooth data according to the sequence is the motion track of the mobile terminal.
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