CN110186457A - A kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map - Google Patents
A kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map Download PDFInfo
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- CN110186457A CN110186457A CN201910381179.2A CN201910381179A CN110186457A CN 110186457 A CN110186457 A CN 110186457A CN 201910381179 A CN201910381179 A CN 201910381179A CN 110186457 A CN110186457 A CN 110186457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
A kind of bluetooth positioning navigation method based on high-precision electronic map provided by the invention, firstly, establishment indoor scene high-precision electronic map, constructs indoor map module；Then, indoor map module is relied on, Bluetooth beacon networking arrangement is completed according to element, element theme and element relationship position；Secondly, building location model using RSS distance measuring signal sequential model, the position coordinates of mobile terminal are obtained；It finally using indoor map as base map foundation, is supported using locating module as location information, building navigation module realizes navigation.Fully consider element in indoor scene, element theme and element relationship position, electronic map data is support with high precision, optimizes traditional Bluetooth beacon networking arrangement scheme, improves the availability and reliability of navigation.
Description
Technical field
The present invention relates to indoor positioning technologies fields, and in particular to the bluetooth indoor positioning based on high-precision electronic map is led
Boat method.
Background technique
Indoor positioning airmanship is in complex indoor environments such as Public place, large scale business body and underground garages
There is huge application demands.However, the position that traditional bluetooth indoor positioning airmanship needs to measure Bluetooth beacon is sat
Mark, time-consuming effort.Currently, not more mature Bluetooth beacon position coordinates quick obtaining scheme in the prior art, and often
Lack the indoor electronic map of high-precision degree and provide basemap data support for navigation, which has limited bluetooth indoor positioning airmanships
Large-scale application.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of bluetooth indoor positioning based on high-precision electronic map and leads
Boat method realizes the high accuracy positioning navigation under complex indoor scene.
A kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map provided by the invention, including following step
It is rapid:
S1. indoor scene high-precision electronic map is worked out, indoor map module is constructed；
S2. indoor map module is relied on, Bluetooth beacon group screen cloth is completed according to element, element theme and element relationship position
Office；
S3. location model is built using RSS distance measuring signal sequential model, obtains the position coordinates of mobile terminal；
S4. it using indoor map as base map foundation, is supported using the locating module as location information, building navigation module is real
Now navigate.
Further, indoor scene high-precision electronic map is worked out in S1 method particularly includes:
S1-1. geocentric coordinate system is constructed as unit of degree；
S1-2. element needed for acquiring mapping module, and element theme is divided according to the feature of element, by the information of element
An element, line feature and face element are converted to, classification setting and symbolic formulation are carried out to element, it is whole then to carry out map drawing
Decorations, it is final to make map tile fragment Parameter File according to different scale, each rank electronic map is cut and format is converted
It is processed into map tile achievement；
S1-3. map tile fragment Parameter File is made according to scale bar, each rank electronic map is cut and format turns
It changes and is processed into map tile achievement, mapping module in forming chamber.
Further, in S1-2, the element theme is an entirety being made of the identical element of feature, described to want
Element only belongs to an element theme, and the element theme may only be expressed as an element type.
Further, in S2, indoor scene low-power consumption bluetooth beacon networking arrangement method specifically:
S2-1. the point element position progress Bluetooth beacon in map is tentatively laid；
If S2-2. the point position element P is less than preset indigo plant apart from the distance between nearest position point element N
Tooth best orientation apart from when, then reject a Bluetooth beacon for the position element P；
S2-3. add cloth Bluetooth beacon at element relationship position；
S2-4. above-mentioned the distance between the Bluetooth beacon laid is measured, is preset if the distance between Bluetooth beacon is greater than
2 times of bluetooth best orientation distance when, between two beacons again plus cloth Bluetooth beacon.
Further, element relationship position includes: staircase floor across place, routes, channel and crosspoint.
Further, in S2-3, when to add cloth Bluetooth beacon again between two beacons, add the point of cloth Bluetooth beacon
Set the characteristic element for considering close region first: element characteristic point and characteristic curve；If close region is without characteristic element, at two
The beacon of beacon line central point Jia Buxin.
Further, in S3, location model is built, obtains the position coordinates of mobile terminal method particularly includes:
S3-1.RSS distance measuring signal sequential model is RSS=A-10nlog10D, in formula, A is positioning node and Bluetooth beacon
Between reference RSS value of distance when being 1 meter, n is signal fade factor, and A and two parameters of n pass through the determination of calibration mode on the spot；
S3-2. for the RSS signal of mobile-terminated m Bluetooth beacon of surrounding neighbour received, by following formula adjustment,
…
Solve the position (x, y) where mobile terminal.
Further, in S4 navigation module construction method specifically:
S4-1. guidance path network is constructed, is navigated for people's row, navigation network is divided based on indoor map module, it is described
Navigation network uses the form of sealene triangle, i.e. the barrier element boundary point based on map and boundary line, and map is drawn
It is divided into multiple triangles, triangle sideline midpoint is connected, as all possible human nature route；It navigates, is based on for garage
Geometric network and topological relation export all possible garage's route in indoor map module；
S4-2. after guidance path network struction, starting point S and terminal E is inputted, people's row or garage is selected, is returned using A* algorithm
Return optimal route.
As shown from the above technical solution, beneficial effects of the present invention:
A kind of bluetooth positioning navigation method based on high-precision electronic map, firstly, establishment indoor scene high-precision electronic
Map constructs indoor map module；Then, indoor map module is relied on, it is complete according to element, element theme and element relationship position
At Bluetooth beacon networking arrangement；Secondly, building location model using RSS distance measuring signal sequential model, the position of mobile terminal is obtained
Coordinate；It finally using indoor map as base map foundation, is supported using locating module as location information, building navigation module realization is led
Boat.Fully considering element in indoor scene, element theme and element relationship position, electronic map data is support with high precision,
Traditional Bluetooth beacon networking arrangement scheme is optimized, the availability and reliability of navigation are improved.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is a kind of flow diagram of the bluetooth positioning navigation method based on high-precision electronic map of the present invention.
Fig. 2 is Bluetooth beacon set of layouts network plane schematic diagram in the embodiment of the present invention.
Fig. 3 is the polygon positioning principle schematic diagram of bluetooth in the embodiment of the present invention.
People's row pattern diagram in Fig. 4 guidance path network.
Garage's pattern diagram in Fig. 5 guidance path network.
Appended drawing reference:
A, B, C, D, E, G, H, I- standard beacon point, F- reject beacon point, J- adds cloth beacon point, S1 is typical cloth
If region, S2 are the region that need to pick Beacon Point, S3 is the region that need to add cloth Beacon Point, the first Bluetooth beacon of X-, the second bluetooth of Y-
Groove, R- above and below first building beacon, Z- third Bluetooth beacon, first building starting point of S-, first building lift port node of P1-, P3- vehicle
Second building terminal, second building lift port node of P2, P4- vehicle answer node, R- terminal.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
As shown in Figure 1, a kind of bluetooth positioning navigation method based on high-precision electronic map provided in this embodiment, including
Following steps:
The first step, establishment indoor scene high-precision electronic map, construct indoor map module；
(1) World Geodetic System 84 (WGS84) geocentric coordinate system is constructed as unit of degree；
(2) element needed for acquiring mapping module, and element theme is divided according to the feature of element, the information of element is turned
It is changed to an element, line feature and face element, classification setting and symbolic formulation are carried out to element, it is whole then to carry out map drawing
Decorations, it is final to make map tile fragment Parameter File according to different scale, each rank electronic map is cut and format is converted
It is processed into map tile achievement；
Point element, line feature and face element are point, line, surface SHP data needed for drawing；It is wanted needed for acquisition mapping module
The method selection general measure of element, mobile laser scanning make according to a variety of methods such as planning as-built drawings.
(3) map tile fragment Parameter File is made according to scale bar, each rank electronic map is cut and format is converted
It is processed into map tile achievement, mapping module in forming chamber.
Indoor map module includes element, element theme, boundary, path, geometric network, topology, position, level and figure
Layer information.
Element is expression of the object of real world in map, and the type of element includes building according to its Attribute transposition
Group, Lou Dong, floor, region, room, boundary, routing, channel, crosspoint, facility, point of interest (POI) etc.；
Element theme is an entirety being made of the identical element of feature, and element only belongs to an element theme, element
Theme may only be expressed as an element type.
Boundary of the boundary between element；Path is the sequence of connected line segment；Geometric network is made of a series of elements, structure
At the network structure with geometrical characteristic；Geometrical constraint of the topology between element, reflects the spatial relationship between object；Position
For coordinate value of the central point in geocentric coordinate system of element；Level is various elements defined in geographical data file general
Three levels divided in thought；Figure layer is a subset formed after being divided according to the information content to data.
The organizational form of element is divided according to data set space region division or data set contents, wherein data set space area
Domain, which is divided into, to be divided according to floor area, divides according to motif area；Data set contents are divided into will wrap according to " boundary " element
Multiple subclass groups such as wall, ground are included to be woven in a figure layer.
Second step relies on indoor map module, completes Bluetooth beacon group according to element, element theme and element relationship position
Net layout；
Indoor scene low-power consumption bluetooth beacon networking arrangement method specifically:
(1) the point element position progress Bluetooth beacon in map is tentatively laid；
(2) if the point position element P is less than preset bluetooth apart from the distance between nearest position point element N
Best orientation apart from when, then reject a Bluetooth beacon for the position element P；
(3) add cloth Bluetooth beacon at element relationship position；Element relationship position includes: staircase floor at, road
By, channel and crosspoint.
(4) above-mentioned the distance between the Bluetooth beacon laid is measured, if the distance between Bluetooth beacon is greater than preset
At 2 times of bluetooth best orientation distance, between two beacons again plus cloth Bluetooth beacon.
When to add cloth Bluetooth beacon again between two beacons, the point position of cloth Bluetooth beacon is added to consider cloth two first
The characteristic element (element characteristic point or element characteristic line) of beacon adjacent domain.The definition of adjacent domain is respectively with two cloth
Beacon is the center of circle, is the intersection area that radius is formed by two discs with 2 times of best orientation distances.If close region is without feature
Element, then in the beacon of two beacon line central point Jia Buxin.
Wherein, according to the organizational form of the element, element characteristic point are as follows: the themes such as crosspoint, facility and point of interest are wanted
Element, such as road junction, fire hydrant, parking stall angle point etc.；Element characteristic line are as follows: the boundary element divided according to data set contents
Figure layer, i.e. boundary between map elements, such as parking stall sideline, room wall sideline.
As shown in Fig. 2, default bluetooth best orientation distance is 6m, wherein the region S1 is that typical case lays situation, and the region S2 is
The case where Beacon Point need to be picked, the region S3 are the case where need to adding cloth Beacon Point.Point element position first in map carries out
Bluetooth beacon is tentatively laid, then lays Bluetooth beacon respectively at the position element A, B, C, D, E, F, G, H, I；Then, in S2
In region, since the distance of element F range points element G is less than 6m, then a Bluetooth beacon for element F position is rejected；
In addition, in the region S3 as the position element H and point element I where between distance be greater than 12m, G and H it
Between the midpoint position J at add cloth Beacon Point, complete Bluetooth beacon layout.
Third step builds location model using RSS distance measuring signal sequential model, obtains the coordinate of the position M of mobile terminal；It moves
Moved end can be smart phone, tablet computer.
(1) RSS distance measuring signal sequential model is RSS=A-10nlog10D, in formula, the A in above-mentioned formula is positioning section
Reference RSS value when distance is 1 meter between point and Bluetooth beacon, n are signal fade factor, and two parameters of A and n by examining on the spot
School side's formula determines that A value is selected as -65dBm in the present embodiment, and n value is selected as 2.4.
(2) flat by following formula (1) for the RSS signal of mobile-terminated m Bluetooth beacon of surrounding neighbour received
Difference solves the position (x, y) where smart phone.
By taking m=3 as an example.As shown in figure 3, by RSS distance measuring signal sequential model calculate respectively mobile terminal M respectively with neighbour
Nearly three Bluetooth beacons: the distance d of the first Bluetooth beacon X, the second Bluetooth beacon Y, third Bluetooth beacon Z1, d2, d3.Due to
One Bluetooth beacon X, the second Bluetooth beacon Y, third Bluetooth beacon Z position it is known that position coordinates are respectively the first Bluetooth beacon X
For (xRSS1, yRSS1), the second Bluetooth beacon Y is (xRSS2, yRSS2), third Bluetooth beacon Z is (xRSS3, yRSS3), then pass through formula
(1) building includes the equation group of 3 equations.The seat of the position M of unknown number mobile terminal can be solved with least square adjustment
It marks (x, y), which is optimal Orientation on map result.
4th step, using indoor map as base map foundation, supported using locating module as location information, building navigation module is real
Now navigate.
The construction method of navigation module specifically:
(1) guidance path network is constructed, is navigated for people's row, navigation network is divided based on indoor map module, it is described to lead
The network that navigates uses the form of sealene triangle, i.e. the barrier element boundary point based on map and boundary line, by map partitioning
For multiple triangles, triangle sideline midpoint is connected, as all possible walking track.If being noted that starting point or end
Point be located at sealene triangle inside, sideline, corner point, then in the triangle all possible path be starting point (terminal) with
The line at any sideline midpoint of the triangle；It navigates for garage, based on geometric network and topological relation in indoor map module
Export all possible garage's route；
(2) after guidance path network struction, starting point S and terminal E is inputted, people's row or garage is selected, is returned using A* algorithm
Optimal route.
As shown in figure 4, dotted line represents navigation grid in Fig. 4 in people's row mode, solid line represents the possible path in part and shows
Example, acceptance of the bid arrow is shortest path.The optimal route selection of first building starting point S to second buildings terminal R is most short with total distance
It measures.In people's row mode, first building building nearest apart from starting point S, lift port node P1 are first looked for, then according to indoor electric
Vertical topology relationship at sub- map floor conversion automatically links to second building corresponding node P2.Finally, being found using P2 as starting point
By the most short via path of P2 E to terminal.Above-mentioned path is sequentially connected in series, optimal route is returned.
As shown in figure 5, first building vehicle nearest apart from starting point S or more groove P3 is first looked in garage's mode, with
The point is that the vehicle for the upper and lower groove of first building vehicle of correspondence that node automatically links to second building answers node P4, then looks for the knot
Point E's to terminal is most short via path；Above-mentioned path is sequentially connected in series, optimal route is returned.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (8)
1. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map, it is characterised in that: the following steps are included:
S1. indoor scene high-precision electronic map is worked out, indoor map module is constructed；
S2. indoor map module is relied on, Bluetooth beacon networking arrangement is completed according to element, element theme and element relationship position；
S3. location model is built using RSS distance measuring signal sequential model, obtains the position coordinates of mobile terminal；
S4. it using indoor map as base map foundation, is supported using the locating module as location information, building navigation module realization is led
Boat.
2. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 1, feature
It is: works out indoor scene high-precision electronic map in S1 method particularly includes:
S1-1. geocentric coordinate system is constructed as unit of degree；
S1-2. element needed for acquiring mapping module, and element theme is divided according to the feature of element, the information of element is converted
For an element, line feature and face elements, classification setting and symbolic formulation are carried out to element, then carry out the ornamenting of map drawing,
It is final to make map tile fragment Parameter File according to different scale, each rank electronic map is cut and format conversion processing
At map tile achievement；
S1-3. according to scale bar make map tile fragment Parameter File, to each rank electronic map cut and format conversion at
Manage into map tile achievement, mapping module in forming chamber.
3. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 2, feature
Be: in S1-2, the element theme is an entirety being made of the identical element of feature, and the element only belongs to one
Element theme, the element theme may only be expressed as an element type.
4. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 1, feature
It is: in S2, indoor scene low-power consumption bluetooth beacon networking arrangement method specifically:
S2-1. the point element position progress Bluetooth beacon in map is tentatively laid；
If S2-2. the point position element P is less than preset bluetooth most apart from the distance between nearest position point element N
When good orientation distance, then a Bluetooth beacon for the position element P is rejected；
S2-3. add cloth Bluetooth beacon at element relationship position；
S2-4. above-mentioned the distance between the Bluetooth beacon laid is measured, if the distance between Bluetooth beacon is greater than preset indigo plant
At 2 times of tooth best orientation distance, between two beacons again plus cloth Bluetooth beacon.
5. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 4, feature
Be: the element relationship position includes: staircase floor across place, routes, channel and crosspoint.
6. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 4, feature
It is: in S2-3, when to add cloth Bluetooth beacon again between two beacons, the point position of cloth Bluetooth beacon is added to consider to face first
The characteristic element of near field: element characteristic point and characteristic curve；If close region is without characteristic element, at two beacon line centers
The beacon of point Jia Buxin.
7. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 1, feature
It is: in S3, builds location model, obtains the position coordinates of mobile terminal method particularly includes:
S3-1.RSS distance measuring signal sequential model is RSS=A-10nlog10D, in formula, A is between positioning node and Bluetooth beacon
Reference RSS value when distance is 1 meter, n are that signal fade factor, A and two parameters of n are determined by calibration mode on the spot；
S3-2. for the RSS signal of mobile-terminated m Bluetooth beacon of surrounding neighbour received, by following formula adjustment,
…
Solve the position (x, y) where mobile terminal.
8. a kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map according to claim 1, feature
It is: the construction method of navigation module in S4 specifically:
S4-1. guidance path network is constructed, is navigated for people's row, navigation network, the navigation are divided based on indoor map module
Network uses the form of sealene triangle, i.e. the barrier element boundary point based on map and boundary line, is by map partitioning
Triangle sideline midpoint is connected by multiple triangles, as all possible human nature route；It navigates for garage, based on interior
Geometric network and topological relation export all possible garage's route in mapping module；
S4-2. after guidance path network struction, starting point S and terminal E is inputted, selects people's row or garage, is returned most using A* algorithm
Major path.
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| CN112632310A (en) * | 2020-12-29 | 2021-04-09 | 苏州物图科技有限公司 | High-precision map construction method for indoor parking lot |
| CN112946572A (en) * | 2021-01-21 | 2021-06-11 | 深圳市飞易通科技有限公司 | Positioning method and system based on Bluetooth networking |
| CN113115244A (en) * | 2021-06-15 | 2021-07-13 | 北京奇岱松科技有限公司 | Indoor positioning system based on Bluetooth and indoor road network information |
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