CN110470300A - A kind of indoor orientation method and system based on 5.0 beacon of bluetooth - Google Patents
A kind of indoor orientation method and system based on 5.0 beacon of bluetooth Download PDFInfo
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- CN110470300A CN110470300A CN201910732066.2A CN201910732066A CN110470300A CN 110470300 A CN110470300 A CN 110470300A CN 201910732066 A CN201910732066 A CN 201910732066A CN 110470300 A CN110470300 A CN 110470300A
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- terminal
- orientation method
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007613 environmental effect Effects 0.000 claims abstract description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 230000035515 penetration Effects 0.000 claims description 3
- 238000005538 encapsulation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000013078 crystal Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- 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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of indoor orientation method and system based on 5.0 beacon of bluetooth, which includes N number of 5.0 beacon of bluetooth and terminal；5.0 beacon of bluetooth uses the CC2640R2MOD module of RSM encapsulation, broadcast is constantly sent as base station, it is communicated between the mobile terminal equipped with bluetooth module, each 5.0 beacon of bluetooth is scanned by mobile terminal, is filtered, relatively stable RSSI value is obtained, further according to the corresponding suitable decay factor of environmental selection, according to formula by RSSI value scaled distance, the coordinate that mobile terminal is finally calculated using trilateration realizes indoor high accuracy positioning.
Description
Technical field
The present invention relates to bluetooth indoor positioning field, the indoor orientation method of especially a kind of 5.0 beacon of bluetooth and its it is
System.
Background technique
Currently, indoor positioning applies more and more extensive, such as market indoor navigation, underground parking vehicle in daily life
The fields such as position is found, commodity on shelf positions.Meanwhile present mobile phone have become people carry essential tool it
One, therefore indoor positioning App of the exploitation based on mobile phone terminal finds the various positions with Bluetooth beacon for people and provides greatly
Help with conveniently.
Current bluetooth indoor locating system is based on bluetooth 4.0 technology substantially, and it is higher that required precision is often not achieved
The design of indoor positioning demand, especially beacon, it is difficult to which the problems such as solving low-power consumption, being distributed over long distances, also less exploitation is at whole
The bluetooth indoor locating system of set.Relative to bluetooth 4.0, the indoor positioning technologies based on bluetooth 5.0 are in precision, distance and power consumption
There is apparent advantage in cost.
Summary of the invention
In view of this, the object of the present invention is to provide the indoor orientation method and its system of a kind of 5.0 beacon of bluetooth, it can
Realize the positioning of higher precision.
The present invention is realized using following scheme: a kind of indoor orientation method based on 5.0 beacon of bluetooth, by N number of bluetooth 5.0
Beacon randomly places indoors, is communicated constantly to send broadcast, and with terminal；By terminal to each bluetooth 5.0
The RSSI signal of beacon is scanned, filters, and obtains stable RSSI value；Biography using decay factor model as indoor positioning
Model is broadcast, further according to corresponding environmental selection decay factor, RSSI value is converted into distance according to formula, finally uses trilateration
The coordinate of method computing terminal, to realize indoor positioning.
Further, the terminal scans for each 5.0 beacon of bluetooth, and carries out the scanning of beacon RSSI intensity,
RSSI signal is filtered using Kalman filtering algorithm, obtains a stable RSSI value.
Further, the propagation model using following decay factor model as indoor positioning, specific formula are as follows:
In formula, PL(d) propagation loss when be terminal and beacon distance is d, unit dBm； PL(d0) it is free space
Terminal and beacon distance are d0When propagation loss, be typically referenced to distance d0Take 1m, therefore PL(1) can by practical beacon into
Rower obtains surely；γ is to take empirical value according to ambient enviroment, value range is between 2-4 with layer signal decay factor；FAF is
The building penetration loss factor.
Further, described according to formula RSSI=Pt-PLRSSI value is converted into distance by (1) -10 γ lg (d)-FAF
Specific formula are as follows:In formula, PtFor beacon emissions power.
Further, the specific formula of the coordinate using trilateration computing terminal are as follows:
In formula, (x1,y1),(x2,y2),(x3,y3) be respectively known three nodes A, B, C coordinate, destination node and it
Distance be respectively d1, d2, d3.
Further, the terminal passes through position where cell phone application application software real time inspection and coordinate.
Further, the present invention also provides a kind of system of indoor orientation method based on 5.0 beacon of bluetooth, including it is N number of
5.0 beacon of bluetooth and the terminal that broadcast RSSI signal is sent to acquire each beacon；The terminal is believed according to the RSSI of acquisition
Number RSSI value carry out operation obtain the coordinate of terminal position, to realize indoor positioning.
Further, 5.0 beacon of bluetooth includes the wireless MCU of bluetooth, radio-frequency antenna circuit, power circuit, clock electricity
Road and reset circuit；The radio-frequency antenna circuit, the power circuit, the clock circuit and reset circuit with the bluetooth
Wireless MCU is electrical connected.
Further, chip model used by the wireless MCU of bluetooth is CC2640R2.
Compared with prior art, the invention has the following advantages:
The present invention devises that miniaturization, low-power consumption, positioning accuracy are higher, support the beacon of 5.0 agreement of bluetooth, and develops
Corresponding indoor positioning App, realizes the positioning of higher precision.
Detailed description of the invention
Fig. 1 is the bluetooth indoor locating system block diagram of the embodiment of the present invention.
Fig. 2 is the beacon hardware block diagram of the embodiment of the present invention.
Fig. 3 is the beacon circuit schematic diagram of the embodiment of the present invention.
Fig. 4 is the positioning flow figure of the embodiment of the present invention.
Fig. 5 is the interface App of the embodiment of the present invention.
Fig. 6 is the positioning result figure of the embodiment of the present invention.
Fig. 7 is the trilateration schematic diagram of the embodiment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in figs. 1 and 4, the present embodiment provides a kind of indoor orientation methods based on 5.0 beacon of bluetooth, by N number of bluetooth
5.0 beacons randomly place indoors, are communicated constantly to send broadcast, and with terminal；By terminal to each bluetooth
The RSSI signal of 5.0 beacons is scanned, filters, and obtains stable RSSI value；Using decay factor model as indoor positioning
Propagation model RSSI value is converted into distance according to formula, finally uses three sides further according to corresponding environmental selection decay factor
The coordinate of mensuration computing terminal, to realize indoor positioning.
In the present embodiment, the terminal scans for each 5.0 beacon of bluetooth, and carries out sweeping for beacon RSSI intensity
It retouches, RSSI signal is filtered using Kalman filtering algorithm, obtains a stable RSSI value.
In the present embodiment, the propagation model using following decay factor model as indoor positioning, specific formula
Are as follows:
In formula, PL(d) propagation loss when be terminal and beacon distance is d, unit dBm； PL(d0) it is free space
Terminal and beacon distance are d0When propagation loss, be typically referenced to distance d0Take 1m, therefore PL(1) it can be carried out by practical beacon
Calibration obtains；γ is empirical value to be taken according to ambient enviroment, between usual value 2-4 with layer signal decay factor；FAF is building
The object penetration loss factor, takes empirical value according to construction material.
In the present embodiment, described according to formula RSSI=Pt-PL(1) -10 γ lg (d)-FAF by RSSI value be converted into away from
From specific formula are as follows:
In formula, PtFor beacon emissions power.
In the present embodiment, the specific formula of the coordinate using trilateration computing terminal are as follows:
In formula, (x1,y1),(x2,y2),(x3,y3) be respectively known three nodes A, B, C coordinate, destination node and it
Distance be respectively d1, d2, d3, as shown in Figure 7.
In the present embodiment, the terminal passes through position where cell phone application application software real time inspection and coordinate.
As shown in Figure 2,3, the present embodiment also provides a kind of system of indoor orientation method based on 5.0 beacon of bluetooth, packet
It includes N number of 5.0 beacon of bluetooth and sends the terminal of broadcast RSSI signal to acquire each beacon；The terminal is according to acquisition
The RSSI value of RSSI signal carries out operation and obtains the coordinate of terminal position, to realize indoor positioning.
In the present embodiment, 5.0 beacon of bluetooth include the wireless MCU of bluetooth, radio-frequency antenna circuit, power circuit, when
Clock circuit and reset circuit；The radio-frequency antenna circuit, the power circuit, the clock circuit and reset circuit with it is described
Bluetooth is wireless, and MCU is electrical connected.
Preferably, the wireless MCU of bluetooth uses the TI modified version CC2640R2 chip of QFN324x4 in the present embodiment, support
Bluetooth5.0 version is encapsulated using RSM mode, minimizes its module, size is only 11*16mm, thickness 2.3mm；By
The ISM band of 2.4GHz is supported in CC2640R2 chip, this MCU is (outer using the PCB antenna of smallest size of MIFA-2.4GHz
Portion's biasing+single-ended) and corresponding Balun circuit and impedance matching network；To meet wireless protocol standard precision, bluetooth 5.0 is believed
It marks circuit and uses patch crystal oscillator outside the 24M of 3225 encapsulation, without external oscillating capacitance；To realize that low-power consumption and timing are accurate,
5.0 beacon circuit of bluetooth additionally uses the 32.768KHz crystal oscillator of FC-135 encapsulation, is added according to the datasheet of crystal oscillator
The oscillating capacitance of 12pF；
Preferably, 5.0 beacon circuit power unit of bluetooth carries out beacon power supply using button cell.
Preferably, the selection of 5.0 beacon number N of indoor bluetooth is the size and positioning accurate according to indoor positioning region area
Degree determines.For example, localization region is divided into several circles, according to trilateration positioning mode, when the every increasing in indoor positioning region
When adding π square metres, then increase beacon number 1.
Preferably, the terminal includes mobile phone or computer；Wherein according to mobile phone then mobile phone firmware version 2 .0.1 or more,
It can support Android4.3+ and apple 4S or more.
Preferably, as follows for the debugging main process of beacon in the present embodiment:
Firstly, confirming that plank defined in plate grade file is encapsulated as 4X4RSM in the case where IAR develops environment.Usually it is defaulted as
CC2640R2MOD_RGZ packing forms, it is therefore desirable to which the CC2640R2MOD_RGZ replaced in precompile macrodefinition is
LAUNCHIOT_CC2640R2MOD_RGZ in CC2640R2_RSM, and replacement engineered paths is LAUNCHIOT_
CC2640R2MOD_RSM recompilates engineering, solves because of the mistake that certain pins are not defined.
Secondly, opening corresponding working space under IAR software, the stack engineering with broadcast capability, output are compiled
The library lib is used for app engineering.After the completion of compiling, the hex file that compiling generates can be found in the corresponding catalogue of sub- engineering.
Finally, being debugged using the XDS110 emulator that grain rains Internet of Things is developed, Bluetooth beacon is imitated by XDS110
True device is connected to computer, and the hex burning file that previous step generates is entered beacon and makes it have Bluetooth broadcast function.
Preferably, in the present embodiment, under working condition, Bluetooth beacon is by continuous cycles (every 500ms) to surrounding
Environment is broadcasted, and broadcasted content includes MAC Address, signal strength RSSI value, UUID and packet content etc., once user
Into in the signal cover of Bluetooth beacon, so that it may to form the automatic-answering back device mechanism of terminal, without extra manual of user
Operation, can be thus achieved information receive capabilities.
User is by the application program App of terminal come position where real time inspection and coordinate.The application program of terminal
The exploitation of App is RSSI value scanning, the filtering by terminal to each beacon, using decay factor model as indoor positioning
Propagation model selects the decay factor of corresponding environment, the coordinate of mobile terminal is calculated by the algorithm of three-point fix, and it is fixed to realize
Position.User terminal A pp positioning system is related to the search to Bluetooth beacon, and the scanning of beacon RSSI intensity carries out RSSI signal
The regulating error of Kalman Algorithm obtains a metastable RSSI, obtains distance further according to adjustable distance algorithm.
Before starting positioning, App reads preparatory configuration information, and the coordinate of beacon can be changed on interface,
It is determined with specific reference to actual indoor size.The RSSI value of multiple beacons is constantly scanned according to the sweep time set,
To refresh new location information, have process as shown in Figure 4.
Preferably, the present embodiment is equal to 3 with N to be illustrated: in this position fixing process, using 3 low-power consumption indigo plants
5.0 beacon of tooth places it in the indoor corner of 3 meters of height from the ground, preferably to position to mobile terminal.To fixed
Each Bluetooth beacon of position regional deployment carries out parameter setting: UUID is uniformly set as ffffffff-ffff-ffff-
Ffffffffff11, Major_id are uniformly set as 0 expression with a series of Bluetooth beacons, and Minor_id is respectively set to 4,5,6
The different location placed as difference beacon.It is 3.3 that the environmental attenuation factor is arranged simultaneously, is divided into 500ms between beacon broadcast.
Terminal uses the OPPOA59s mobile phone of Android5.1 system, starts mounted bluetooth positioning APP, obtains APP
Interface is as shown in figure 5, the setting upper left corner is the initial origin of coordinate.
It clicks search bluetooth after starting App to start to position, system can be fixed according to 3 points to the RSSI intensity scanned
The conversion of position obtains coordinate and position where mobile terminal, and position is shown on map, and coordinate is shown in map lower section.It is fixed
Position result is as shown in Figure 6.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (9)
1. a kind of indoor orientation method based on 5.0 beacon of bluetooth, it is characterised in that: N number of 5.0 beacon of bluetooth to be randomly placed in
Interior is communicated constantly to send broadcast, and with terminal；By terminal to the RSSI signal of each 5.0 beacon of bluetooth
It is scanned, filters, obtain stable RSSI value；Propagation model using decay factor model as indoor positioning, further according to
RSSI value is converted into distance according to formula, finally using trilateration computing terminal by corresponding environmental selection decay factor
Coordinate, to realize indoor positioning.
2. a kind of indoor orientation method based on 5.0 beacon of bluetooth according to claim 1, it is characterised in that: the end
End scans for each 5.0 beacon of bluetooth, and carries out the scanning of beacon RSSI intensity, using Kalman filtering algorithm to RSSI
Signal is filtered, and obtains a stable RSSI value.
3. a kind of indoor orientation method based on 5.0 beacon of bluetooth according to claim 1, it is characterised in that: described to adopt
Use following decay factor model as the propagation model of indoor positioning, specific formula are as follows:
In formula, PL(d) propagation loss when be terminal and beacon distance is d, unit dBm；PL(d0) be free space terminal with
Beacon distance is d0When propagation loss, be typically referenced to distance d0Take 1m, therefore PL(1) it can be demarcated by practical beacon
It obtains；γ is to take empirical value according to ambient enviroment, value range is between 2-4 with layer signal decay factor；FAF is building
The penetration loss factor.
4. a kind of indoor orientation method based on 5.0 beacon of bluetooth according to claim 1, it is characterised in that: it is described according to
According to formula RSSI=Pt-PLRSSI value is converted into the specific formula of distance by (1) -10 γ lg (d)-FAF are as follows:In formula, PtFor beacon emissions power.
5. a kind of indoor orientation method based on 5.0 beacon of bluetooth according to claim 1, it is characterised in that: described to adopt
With the specific formula of the coordinate of trilateration computing terminal are as follows:
In formula, (x1,y1),(x2,y2),(x3,y3) be respectively known three nodes A, B, C coordinate, destination node and they
Distance respectively d1, d2, d3.
6. a kind of indoor orientation method based on 5.0 beacon of bluetooth according to claim 1, it is characterised in that: the end
End passes through position where cell phone application application software real time inspection and coordinate.
7. based on a kind of system of the indoor orientation method of 5.0 beacon of bluetooth as claimed in any one of claims 1 to 6, feature
It is: sends the terminal of broadcast RSSI signal including N number of 5.0 beacon of bluetooth and to acquire each beacon；The terminal according to
The RSSI value of the RSSI signal of acquisition carries out operation and obtains the coordinate of terminal position, to realize indoor positioning.
8. a kind of system of the indoor orientation method of 5.0 beacon of bluetooth according to claim 7, it is characterised in that: described
5.0 beacon of bluetooth includes the wireless MCU of bluetooth, radio-frequency antenna circuit, power circuit, clock circuit and reset circuit；The radio frequency
Antenna circuit, the power circuit, the clock circuit and reset circuit are electrical connected with the wireless MCU of the bluetooth.
9. a kind of system of the indoor orientation method of 5.0 beacon of bluetooth according to claim 7, it is characterised in that: described
Chip model used by bluetooth is wireless MCU is CC2640R2.
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| CN201910732066.2A CN110470300B (en) | 2019-08-08 | 2019-08-08 | Indoor positioning method and system for Bluetooth5.0 beacon |
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| CN201910732066.2A CN110470300B (en) | 2019-08-08 | 2019-08-08 | Indoor positioning method and system for Bluetooth5.0 beacon |
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| CN111654816A (en) * | 2020-03-04 | 2020-09-11 | 懋特(上海)物联网科技有限公司 | Method for displaying non-penetrating barrier by Bluetooth indoor positioning point |
| CN111818636A (en) * | 2020-06-03 | 2020-10-23 | 哈尔滨工业大学（威海） | Vehicle-mounted Bluetooth positioning system and positioning method thereof |
| CN112700655A (en) * | 2020-12-23 | 2021-04-23 | 江苏高立泊车科技有限公司 | Indoor and outdoor seamless docking navigation method |
| CN113543018A (en) * | 2021-06-18 | 2021-10-22 | 韩山师范学院 | Low-cost Beacon Beacon arrangement method supporting failure tolerance in Bluetooth terminal side positioning |
| CN113534046A (en) * | 2021-07-12 | 2021-10-22 | 珠海极海半导体有限公司 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
| CN114360284A (en) * | 2021-12-31 | 2022-04-15 | 浙江工业大学 | Bluetooth positioning method for large three-dimensional bus parking lot |
| CN117896827A (en) * | 2024-03-18 | 2024-04-16 | 慧翰微电子股份有限公司 | Indoor positioning method and system based on Bluetooth |
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| CN113543018A (en) * | 2021-06-18 | 2021-10-22 | 韩山师范学院 | Low-cost Beacon Beacon arrangement method supporting failure tolerance in Bluetooth terminal side positioning |
| CN113543018B (en) * | 2021-06-18 | 2024-03-01 | 韩山师范学院 | Low-cost Beacon Beacon arrangement method supporting failure tolerance in Bluetooth terminal side positioning |
| CN113534046A (en) * | 2021-07-12 | 2021-10-22 | 珠海极海半导体有限公司 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
| CN114360284A (en) * | 2021-12-31 | 2022-04-15 | 浙江工业大学 | Bluetooth positioning method for large three-dimensional bus parking lot |
| CN117896827A (en) * | 2024-03-18 | 2024-04-16 | 慧翰微电子股份有限公司 | Indoor positioning method and system based on Bluetooth |
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| Publication number | Publication date |
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| CN110470300B (en) | 2024-01-26 |
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