CN110186457A - A kind of bluetooth indoor positioning air navigation aid based on high-precision electronic map - Google Patents

Abstract

A Bluetooth positioning and navigation method based on a high-precision electronic map provided by the present invention, firstly, compile a high-precision electronic map of an indoor scene, and construct an indoor map module; Beacon network layout; secondly, use the RSS ranging signal gradient model to build a positioning model to obtain the location coordinates of the mobile terminal; finally, based on the indoor map, use the positioning module as the location information support to build a navigation module to realize navigation. Fully considering the elements, element themes and element relationship positions in indoor scenes, supported by high-precision electronic map data, the traditional bluetooth beacon network layout scheme is optimized, and the usability and reliability of navigation are improved.

Description

A Bluetooth indoor positioning and navigation method based on high-precision electronic map

technical field

The invention relates to the technical field of indoor positioning, in particular to a Bluetooth indoor positioning and navigation method based on a high-precision electronic map.

Background technique

Indoor positioning and navigation technology has huge application requirements in complex indoor environments such as public service places, large commercial buildings, and underground garages. However, traditional Bluetooth indoor positioning and navigation technology needs to measure the location coordinates of Bluetooth beacons, which is time-consuming and labor-intensive. At present, there is no relatively mature bluetooth beacon position coordinate fast acquisition scheme in the existing technology, and often lacks high-precision indoor electronic map to provide base map data support for navigation, which limits the large-scale application of bluetooth indoor positioning and navigation technology.

Contents of the invention

Aiming at the defects in the prior art, the present invention provides a Bluetooth indoor positioning and navigation method based on a high-precision electronic map to realize high-precision positioning and navigation in complex indoor scenes.

A kind of bluetooth indoor positioning and navigation method based on high-precision electronic map provided by the present invention comprises the following steps:

S1. Compile a high-precision electronic map of indoor scenes and build an indoor map module;

S2. Relying on the indoor map module, complete the bluetooth beacon network layout according to the elements, element themes and element relationship positions;

S3. Use the RSS ranging signal gradient model to build a positioning model to obtain the position coordinates of the mobile terminal;

S4. Taking the indoor map as the base map and using the positioning module as the position information support, constructing a navigation module to realize navigation.

Further, the specific method for compiling a high-precision electronic map of indoor scenes in S1 is as follows:

S1-1. Construct the geocentric coordinate system with degrees as the unit;

S1-2. Collect the elements required by the map module, and divide the theme of the elements according to the characteristics of the elements, convert the information of the elements into point elements, line elements and area elements, set the classification and symbolic expression of the elements, and then map Map finishing, finally making map tile parameter files according to different scales, cutting and format converting electronic maps of all levels into map tile results;

S1-3. Create a map tile parameter file according to the scale, cut and format the electronic maps of each level into map tile results, and form an indoor map module.

Further, in S1-2, the element theme is a whole composed of elements with the same characteristics, the element only belongs to one element theme, and the element theme can only be expressed as one element type.

Further, in S2, the layout method of the Bluetooth low-power beacon network in the indoor scene is as follows:

S2-1. Preliminary deployment of Bluetooth beacons on the location of the point elements in the map;

S2-2. If the distance between the location of the point element P and the location of the nearest point element N is less than the preset Bluetooth optimal positioning distance, then remove the Bluetooth beacon at the location of the point element P;

S2-3. Add a Bluetooth beacon at the location of the element relationship;

S2-4. Measure the distance between the above-mentioned bluetooth beacons that have been deployed. If the distance between the bluetooth beacons is greater than twice the preset bluetooth optimal positioning distance, redistribute the bluetooth signal between the two beacons. mark.

Further, the position of element relationship includes: stairwell floor crossing, route, passage and intersection.

Further, in S2-3, when the Bluetooth beacon is to be distributed between two beacons, the point position of the Bluetooth beacon is added first to consider the characteristic elements of the adjacent area: element feature points and feature lines; if the adjacent area If there is no characteristic element, add a new beacon at the center point of the line connecting the two beacons.

Further, in S3, the specific method of building a positioning model and obtaining the position coordinates of the mobile terminal is as follows:

S3-1. The gradient model of RSS ranging signal is RSS=A-10nlog ₁₀ d, where A is the reference RSS value when the distance between the positioning node and the Bluetooth beacon is 1 meter, n is the signal gradient factor, and A and The two parameters of n are determined by field inspection;

S3-2. For the RSS signals of the surrounding m Bluetooth beacons received by the mobile terminal, adjust the difference by the following formula,

…

Solve the position (x, y) where the mobile terminal is located.

Further, the construction method of the navigation module in S4 is as follows:

S4-1. Construct a navigation path network. For pedestrian navigation, divide the navigation network based on the indoor map module. The navigation network is in the form of an irregular triangle, that is, based on the boundary points and boundary lines of the obstacle elements on the map, and divide the map into multiple A triangle, connecting the midpoints of the triangle edges, is all possible human routes; for car navigation, output all possible car routes based on the geometric network and topological relationship in the indoor map module;

S4-2. After the navigation path network is constructed, input the starting point S and the ending point E, select pedestrian or vehicle, and use the A* algorithm to return to the optimal route.

As can be seen from the above technical solutions, the beneficial effects of the present invention:

A Bluetooth positioning and navigation method based on a high-precision electronic map. First, compile a high-precision electronic map of an indoor scene and construct an indoor map module; then, rely on the indoor map module to complete the Bluetooth beacon network according to the elements, element themes, and element relationship positions Layout; secondly, use the RSS ranging signal gradient model to build a positioning model to obtain the location coordinates of the mobile terminal; finally, based on the indoor map, use the positioning module as the location information support to build a navigation module to realize navigation. Fully considering the elements, element themes and element relationship positions in indoor scenes, supported by high-precision electronic map data, the traditional bluetooth beacon network layout scheme is optimized, and the usability and reliability of navigation are improved.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art. Throughout the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn in actual scale.

FIG. 1 is a schematic flowchart of a Bluetooth positioning and navigation method based on a high-precision electronic map according to the present invention.

FIG. 2 is a schematic diagram of a bluetooth beacon layout and networking plane in an embodiment of the present invention.

FIG. 3 is a schematic diagram of the principle of Bluetooth multilateral positioning in an embodiment of the present invention.

Figure 4. Schematic diagram of pedestrian patterns in a navigation path network.

Figure 5. Schematic diagram of the driving mode in the navigation route network.

Reference signs:

A, B, C, D, E, G, H, I-standard beacon points, F-elimination of beacon points, J-Jabu beacon points, S1 is the typical layout area, S2 is the area where beacon points need to be removed , S3 is the area where beacon points need to be added, X-the first Bluetooth beacon, Y-the second Bluetooth beacon, Z-the third Bluetooth beacon, S-the starting point of the first floor, P1-the elevator exit node on the first floor Point, P3-the up and down ramp of vehicles on the first floor, R-the end point of the second floor, P2-the node of the elevator entrance on the second floor, P4-the node of the vehicle, R-end point.

Detailed ways

Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only examples, rather than limiting the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.

As shown in Figure 1, a kind of bluetooth positioning and navigation method based on high-precision electronic map provided by the present embodiment comprises the following steps:

The first step is to compile a high-precision electronic map of indoor scenes and build an indoor map module;

(1) Construct the World Geodetic System 84 (WGS84) geocentric coordinate system in degrees;

(2) Collect the elements required by the map module, and divide the theme of the elements according to the characteristics of the elements, convert the information of the elements into point elements, line elements and area elements, set the elements in a hierarchical setting and symbolize the expression, and then make a map Surface finishing, finally making map tile parameter files according to different scales, cutting and format converting electronic maps of all levels into map tile results;

Point elements, line elements and area elements are the point, line, and area SHP data required for mapping; the methods for collecting the elements required by the map module are made by conventional surveying, mobile laser scanning, or drawing based on planned and completed drawings.

(3) Make map tile parameter files according to the scale, cut and convert the format of electronic maps of all levels into map tile results, and form an indoor map module.

The indoor map module includes features, feature themes, boundaries, routes, geometric networks, topology, locations, hierarchies, and layer information.

Elements are representations of objects in the real world on the map. The types of elements are divided according to their attributes, including building groups, buildings, floors, areas, rooms, boundaries, routes, passages, intersections, facilities, points of interest (POI), etc. ;

An element theme is a whole composed of elements with the same characteristics, an element belongs to only one element theme, and an element theme can only be expressed as one element type.

Boundary is the boundary between elements; path is a sequence of connected line segments; geometric network is composed of a series of elements, forming a network structure with geometric characteristics; topology is the geometric constraints between elements, reflecting the spatial relationship between objects; position is The coordinate value of the center point of the feature in the geocentric coordinate system; the level is the three levels conceptually divided into various elements defined in the geographic data file; the layer is a group formed after dividing the data according to the information content Subset.

The organization of elements is divided according to the spatial area of the data set or the content of the data set. The spatial area of the data set is divided according to the floor area and the subject area; the content of the data set is divided according to the "boundary" element, which will include walls, floors, etc. Multiple subclasses are organized in a layer.

The second step is to rely on the indoor map module to complete the bluetooth beacon network layout according to the elements, element themes and element relationship positions;

The layout method of the low-power Bluetooth beacon network in the indoor scene is as follows:

(1) Preliminary layout of Bluetooth beacons for the location of point elements in the map;

(2) If the distance between the location of the point element P and the location of the nearest point element N is less than the preset Bluetooth optimal positioning distance, then remove the Bluetooth beacon at the location of the point element P;

(3) Add Bluetooth beacons at the location of the element relationship; the location of the element relationship includes: stairwell floor crossing, route, passage and intersection.

(4) Measure the distance between the above-mentioned bluetooth beacons that have been deployed. If the distance between the bluetooth beacons is greater than twice the preset bluetooth optimal positioning distance, place a bluetooth beacon between the two beacons .

When adding a Bluetooth beacon between two beacons, first consider the feature elements (feature feature points or feature line) in the adjacent area of the two beacons that have been deployed for the point position of the Bluetooth beacon. The adjacent area is defined as the intersection area of two circular surfaces formed with the two deployed beacons as the center and 2 times the optimal positioning distance as the radius. If there is no characteristic element in the adjacent area, add a new beacon at the center point of the line connecting the two beacons.

Among them, according to the organization method of the elements, the feature points of the elements are: theme elements such as intersections, facilities, and points of interest, such as road intersections, fire hydrants, corners of parking spaces, etc.; the feature lines of the elements are: divided according to the content of the data set The boundary feature layer of , that is, the boundary between map features, such as the edge of a parking space, the edge of a room wall, etc.

As shown in Figure 2, the preset best Bluetooth positioning distance is 6m, where the S1 area is a typical deployment situation, the S2 area is the situation where beacon points need to be picked, and the S3 area is the situation where beacon points need to be added. Firstly, the Bluetooth beacons are initially arranged for the location of the point elements in the map, and then the Bluetooth beacons are respectively arranged at the positions of the point elements A, B, C, D, E, F, G, H, and I; then, in the S2 area , because the distance between the point element F and the point element G is less than 6m, the Bluetooth beacon at the location of the point element F is eliminated; in addition, in the S3 area, because the distance between the point element H and the point element I is greater than 12m, so a beacon point is added at the midpoint J between G and H to complete the layout of the Bluetooth beacon.

The third step is to use the RSS ranging signal gradient model to build a positioning model, and obtain the coordinates of the position M of the mobile terminal; the mobile terminal can be a smart phone or a tablet computer.

(1) The gradual change model of the RSS ranging signal is RSS=A-10nlog ₁₀ d, where A in the above formula is the reference RSS value when the distance between the positioning node and the Bluetooth beacon is 1 meter, and n is the signal gradient The two parameters of factor, A and n, are determined by on-site calibration. In this embodiment, the value of A is selected as -65dBm, and the value of n is selected as 2.4.

(2) For the RSS signals of the surrounding m Bluetooth beacons received by the mobile terminal, the position (x, y) of the smartphone is calculated by adjusting the following formula (1).

Take m=3 as an example. As shown in Figure 3, the distance between the mobile terminal M and three adjacent Bluetooth beacons: the first Bluetooth beacon X, the second Bluetooth beacon Y, and the third Bluetooth beacon Z are respectively calculated through the RSS ranging signal gradient model d ₁ , d ₂ , d ₃ . Since the positions of the first bluetooth beacon X, the second bluetooth beacon Y, and the third bluetooth beacon Z are known, the position coordinates are respectively (x _RSS1 , y _RSS1 ) for the first bluetooth beacon X, and the second bluetooth beacon Y is (x _RSS2 , y _RSS2 ), and the third Bluetooth beacon Z is (x _RSS3 , y _RSS3 ), then a system of equations including 3 equations is constructed by formula (1). The coordinates (x, y) of the position M of the unknown mobile terminal can be obtained by using the least squares adjustment, which is the best map positioning result.

The fourth step is to use the indoor map as the base map and the positioning module as the location information support to build a navigation module to realize navigation.

The construction method of the navigation module is as follows:

(1) Construct a navigation path network. For pedestrian navigation, the navigation network is divided based on the indoor map module. A triangle, connecting the midpoints of the sides of the triangle, is all possible pedestrian routes. It should be noted that if the starting point or the ending point is located at the interior, edge, or corner of an irregular triangle, then all possible paths in the triangle are the lines connecting the starting point (end point) and the midpoint of any edge of the triangle; for vehicle navigation, based on The geometric network and topological relationship in the indoor map module output all possible driving routes;

(2) After the navigation path network is constructed, input the starting point S and the ending point E, select pedestrian or vehicle, and use the A* algorithm to return to the optimal route.

As shown in Fig. 4, in the pedestrian mode, the dotted line in Fig. 4 represents the navigation grid, and the solid line represents some possible path examples, and the one marked with an arrow is the shortest path. The optimal route selection from the starting point S on the first floor to the end point R on the second floor is measured by the shortest total distance. In the pedestrian mode, first find the building and elevator entrance node P1 closest to the starting point S on the first floor, and then automatically link to the corresponding node P2 on the second floor according to the vertical topological relationship at the floor transition of the indoor electronic map. Finally, with P2 as the starting point, find the shortest path from P2 to the end point E. Concatenate the above paths in sequence to return the optimal route.

As shown in Figure 5, in the driving mode, first find the vehicle up and down slope P3 closest to the starting point S on the first floor, and use this point as a node to automatically link to the corresponding first floor vehicle up and down slope on the second floor The vehicle should go to node P4, and then find the shortest path from this node to the end point E; connect the above paths in series and return to the optimal route.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. All of them should be covered by the scope of the claims and description of the present invention.

Claims (8)

1. a bluetooth indoor positioning navigation method based on high-precision electronic map, is characterized in that: comprise the following steps: S1. Compile a high-precision electronic map of indoor scenes and build an indoor map module; S2. Relying on the indoor map module, complete the bluetooth beacon network layout according to the elements, element themes and element relationship positions; S3. Use the RSS ranging signal gradient model to build a positioning model to obtain the position coordinates of the mobile terminal; S4. Taking the indoor map as the base map and using the positioning module as the position information support, constructing a navigation module to realize navigation. 2. a kind of bluetooth indoor positioning and navigation method based on high-precision electronic map according to claim 1, is characterized in that: the concrete method of making indoor scene high-precision electronic map in S1 is: S1-1. Construct the geocentric coordinate system with degrees as the unit; S1-2. Collect the elements required by the map module, and divide the theme of the elements according to the characteristics of the elements, convert the information of the elements into point elements, line elements and area elements, set the classification and symbolic expression of the elements, and then map Map finishing, finally making map tile parameter files according to different scales, cutting and format converting electronic maps of all levels into map tile results; S1-3. Create a map tile parameter file according to the scale, cut and format the electronic maps of each level into map tile results, and form an indoor map module. 3. A kind of bluetooth indoor positioning navigation method based on high-precision electronic map according to claim 2, it is characterized in that: in S1-2, described element theme is a whole that is made up of the same element of feature, and described A feature belongs to only one feature theme, which can only be expressed as one feature type. 4. A kind of bluetooth indoor positioning navigation method based on high-precision electronic map according to claim 1, it is characterized in that: in S2, the bluetooth beacon networking layout method of indoor scene low power consumption is specifically: S2-1. Preliminary deployment of Bluetooth beacons on the location of the point elements in the map; S2-2. If the distance between the location of the point element P and the location of the nearest point element N is less than the preset Bluetooth optimal positioning distance, then remove the Bluetooth beacon at the location of the point element P; S2-3. Add a Bluetooth beacon at the location of the element relationship; S2-4. Measure the distance between the above-mentioned bluetooth beacons that have been deployed. If the distance between the bluetooth beacons is greater than twice the preset bluetooth optimal positioning distance, redistribute the bluetooth signal between the two beacons. mark. 5. A Bluetooth indoor positioning and navigation method based on a high-precision electronic map according to claim 4, characterized in that: the element relationship positions include: stairwell floor crossings, routes, passages and intersections. 6. A kind of bluetooth indoor positioning navigation method based on high-precision electronic map according to claim 4, it is characterized in that: in S2-3, when will distribute bluetooth beacon again between two beacons, add The point position of the bluetooth beacon first considers the characteristic elements of the adjacent area: element feature points and feature lines; if there is no characteristic element in the adjacent area, a new beacon is added at the center point of the connection between the two beacons. 7. A kind of bluetooth indoor positioning navigation method based on high-precision electronic map according to claim 1, it is characterized in that: in S3, build positioning model, the specific method of obtaining the position coordinates of mobile terminal is: S3-1. The gradient model of RSS ranging signal is RSS=A-10nlog ₁₀ d, where A is the reference RSS value when the distance between the positioning node and the Bluetooth beacon is 1 meter, n is the signal gradient factor, and A and The two parameters of n are determined by field inspection; S3-2. For the RSS signals of the surrounding m Bluetooth beacons received by the mobile terminal, adjust the difference by the following formula, … Solve the position (x, y) where the mobile terminal is located. 8. A kind of bluetooth indoor positioning and navigation method based on high-precision electronic map according to claim 1, is characterized in that: the construction method of navigation module in S4 is specifically: S4-1. Construct a navigation path network. For pedestrian navigation, divide the navigation network based on the indoor map module. The navigation network is in the form of an irregular triangle, that is, based on the boundary points and boundary lines of the obstacle elements on the map, and divide the map into multiple A triangle, connecting the midpoints of the triangle edges, is all possible human routes; for car navigation, output all possible car routes based on the geometric network and topological relationship in the indoor map module; S4-2. After the navigation path network is constructed, input the starting point S and the ending point E, select pedestrian or vehicle, and use the A* algorithm to return to the optimal route.