CN110514205A - A kind of indoor orientation method and its system - Google Patents
A kind of indoor orientation method and its system Download PDFInfo
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- CN110514205A CN110514205A CN201810494903.8A CN201810494903A CN110514205A CN 110514205 A CN110514205 A CN 110514205A CN 201810494903 A CN201810494903 A CN 201810494903A CN 110514205 A CN110514205 A CN 110514205A
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- rssi value
- bluetooth
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
Abstract
The present invention relates to indoor positioning technologies field, in particular to a kind of indoor orientation method and its system；In the present invention, it first obtains location information and carries out data packing and forward；The data of packing are obtained and parsed, to extract transmission node coordinate information and RSSI value, to filter out the parsing data for meeting threshold range according to RSSI value threshold value, calculate out position according to three in RSSI value or three or more optimal datas；Method feasibility of the invention is high and inexpensive, and positioning accuracy is reliable, convenient for promoting and using.
Description
Technical field
The present invention relates to indoor positioning technologies field, in particular to a kind of indoor orientation method and its system.
Background technique
The target of location technology is to obtain spatial information, to obtain the function of social information and information inquiry；It is supervised in region
The application field of the wireless sensor networks such as survey, personnel tracking, location information is most important, personnel positions are sensor networks
Important information in.
GPS or A-GPS technology has been able to be provided for user with very high-precision outdoor positioning service at present, and GPS is mesh
Preceding most mature location technology, location technology performance and precision are all very high, but its signal encounters barrier and can decay, Wu Fatou
The limitation for crossing building progress precise positioning increasingly highlights, and the effect is unsatisfactory for location navigation indoors for it.
The main foundation of current indoor positioning technologies: WLAN, bluetooth, ultra wide band, ultrasonic wave and less radio-frequency are known
The technologies such as not, main localization method according to ranging and carry out indoor positioning, Hou Zhe based on the localization method of characteristic matching
Very high precision can be reached to a certain degree, but need carry out a large amount of data acquisition early period, the complexity when matching search calculates
It is higher, mainly there are poor foundation propagation time, signal arrival time, signal angle of arrival in distance-measuring and positioning method and receives signal
Intensity RSS, the localization method based on time reference will receive the influence of non line of sight factor, and the distance measuring method based on angle of arrival needs
To add hardware additionally to increase cost；And occur in existing indoor locating system since itself stronger signal is dry
It disturbs and causes its reliability of positioning poor, the low problem of setting accuracy, though it can be accurately positioned one-time investment there are also some
Problem at high cost constrains the application and development of indoor positioning.
Summary of the invention
Described above in order to overcome the shortcomings of, the object of the present invention is to provide a kind of indoor orientation methods, and it is fixed first to obtain
Position information and carry out data packing forward；The data being packaged are obtained and parse again, to extract coordinate information and RSSI
Value, so that the parsing data for meeting threshold range are filtered out according to RSSI value threshold value, according to three in RSSI value or three or more
Optimal data calculates out position；A kind of indoor locating system is also provided.
The present invention the technical solution to solve the technical problem is that:
A kind of indoor orientation method, wherein include the following steps:
Step S1, it obtains location information and carries out data packing and forward；
Step S2, the data being packaged are obtained；
Step S3, the data that parsing is packaged；
Step S4, coordinate information and RSSI value are extracted；
Step S5, the parsing data for meeting threshold range are filtered out according to RSSI value threshold value, are judged whether it is in RSSI value
Three or three or more optimal datas；If it is not, the return step S2 that clears data；If it is, calculating data obtains position.
As an improvement of the present invention, in step S5, data is calculated and are obtained in the data selected according to position
Transmission node coordinate and RSSI value combination trilateration calculate the position of user.
As a further improvement of the present invention, in step S2, the data include the coordinate information of transmission node, user
Signal power strength RSSI value, the Bluetooth address information of user of transmission.
As a further improvement of the present invention, in step S1, including step S101 and step S102；
Step S101, the data of user's Bluetooth broadcast are searched for；
Step S102, whether judgement has location data within the set time；If it is not, into battery saving mode；If
Have, then enters operating mode.
It as a further improvement of the present invention, further include after step S102 in step S1 in step S1
Step S103, storage and micro process are carried out to data, and data are screened, integrate packing and preservation.
It as a further improvement of the present invention, further include after step S103 in step S1 in step S1
Step S104, access AP and send the data of packing.
As a further improvement of the present invention, in step S1, in step S101, the data packet of user's Bluetooth broadcast
Include the parameters such as address, type of data packet, the channel number of user's Bluetooth signal, the signal power strength RSSI value that user sends.
As a further improvement of the present invention, in step S102, if it is determined that within the set time without positioning number
According to, it automatically cuts off WiFi function module in transmission node and switches to dormant state, Bluetooth function module in transmission node
Reducing search rate makes transmission node be in low-power consumption standby state.
A kind of indoor locating system, wherein user, server and at least three transmission sections including energy Bluetooth broadcast information
Point；Location information is passed through Bluetooth broadcast by user；The RSSI that transmission node is used to search for and obtain location information and user sends
Value simultaneously store to it then connection AP access server and sends the data of packing to server；Server is beaten for handling
The data of packet simultaneously finally calculate position.
As an improvement of the present invention, the transmission node includes sending for searching for and obtaining location information and user
The Bluetooth function module of RSSI value, the memory function module for storing location information and RSSI value, for connecting AP access
Server simultaneously sends power module of the data of packing to the WiFi function module of server and for being powered.
In the present invention, it first obtains location information and carries out data packing and forward；The number of packing is obtained and parsed again
According to meeting threshold range to filter out according to RSSI value threshold value to extract transmission node coordinate information and RSSI value
Data are parsed, calculate out position according to three in RSSI value or three or more optimal datas；Method feasibility of the invention it is high and
Low cost, positioning accuracy is reliable, convenient for promoting and using.
Detailed description of the invention
The present invention is described in detail by following preferred embodiments and attached drawing for ease of explanation,.
Fig. 1 is the process step block diagram of localization method of the invention；
Fig. 2 is the internal process block diagram of step S1 of the invention；
Fig. 3 is the connection block diagram of positioning system of the invention；
Fig. 4 is that the inside of the transmission node of positioning system of the invention connects block diagram；
Fig. 5 is that the transmission node of one embodiment of the present of invention constitutes figure；
Fig. 6 is the working condition flow diagram of the transmission node of one embodiment of the present of invention；
Fig. 7 is the positioning principle distribution map of one embodiment of the present of invention；
Fig. 8 is the calculating data flow diagram of the server of one embodiment of the present of invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
As shown in Figure 1, a kind of indoor orientation method of the invention, includes the following steps:
Step S1, it obtains location information and carries out data packing and forward；
Step S2, the data being packaged are obtained；
Step S3, the data that parsing is packaged；
Step S4, coordinate information and RSSI value are extracted；
Step S5, the parsing data for meeting threshold range are filtered out according to RSSI value threshold value, are judged whether it is in RSSI value
Three or three or more optimal datas；If it is not, the return step S2 that clears data；If it is, calculating data obtains position.
In the present invention, it first obtains location information and carries out data packing and forward；Obtain and parse again the number being packaged
According to, so that coordinate information and RSSI value are extracted, so that the parsing data for meeting threshold range are filtered out according to RSSI value threshold value,
Out position is calculated according to three in RSSI value or three or more optimal datas；Method feasibility of the invention is high and inexpensive,
Positioning accuracy is reliable, convenient for promoting and using.
In step S5, the transmission node coordinate and RSSI value in the data selected according to data acquisition position are calculated
The position of user is calculated in conjunction with trilateration.
In step S2, data include the coordinate information of transmission node, the signal power strength RSSI value of user's transmission, use
The Bluetooth address information at family.
As shown in Fig. 2, including the following steps: in step S1
Step S101, the data of user's Bluetooth broadcast are searched for；
Step S102, whether judgement has location data within the set time；If it is not, into battery saving mode；If
Have, then enters operating mode；
Step S103, storage and micro process are carried out to data, and data is screened, integrate packing and preservation；
Step S104, it accesses AP and sends the data of packing.
Wherein, in step S101, the data of user's Bluetooth broadcast include the address of user's Bluetooth signal, data packet class
The signal power strength RSSI value that the parameters such as type, channel number, user send.
In step S102, if it is determined that automatically cutting off WiFi in transmission node within the set time without location data
Functional module simultaneously switches to dormant state, and Bluetooth function module, which reduces search rate, in transmission node is in transmission node
Low-power consumption standby state.
As shown in figure 3, the present invention provides a kind of indoor locating system, which is characterized in that including energy Bluetooth broadcast information
User, server and at least three transmission nodes；Location information is passed through Bluetooth broadcast by user；Transmission node is for searching for and obtaining
It takes the RSSI value of location information and user's transmission and store to it then connection AP access server and send the number of packing
According to server；Server is used to handle the data being packaged and finally calculates position.
In the present invention, server obtains and parses the data of packing, thus extract transmission node coordinate information and
RSSI value.
As shown in figure 4, transmission node includes the bluetooth for searching for and obtaining the RSSI value of location information and user's transmission
Functional module, the memory function module for storing location information and RSSI value are beaten for connecting AP access server and sending
Power module of the data of packet to the WiFi function module of server and for being powered.
Under normal circumstances, the method based on range detection (call-ID), user's bluetooth enter signal cover, even
Bluetooth locating access points are connect, Bluetooth accessing point records and registers customer position information registration on the server, and server is by connecing
Location information is sent user terminal by access point bluetooth, and user terminal can only obtain the position of its access point bluetooth institute coverage area, only
The positioning that room level can be reached, is not accurately positioned；Its RSSI (Received is obtained based on connection label bluetooth
Signal Strength Indication) value localization method, user's bluetooth discovery and the label bluetooth for accessing positioning obtain
The location information and RSSI value of label bluetooth, the specific range of the range of bluetooth covering where calculating user by RSSI value,
Precision than room-level with so increasing, but still or a biggish position range, and establishes and connects with label bluetooth
The overlong time connect affects positioning experience effect；Based on the localization method of inquiry broadcast bluetooth RSSI value, user is by having
The equipment of Bluetooth function searches for and obtains the location information and RSSI of the minimum three mark constantly label bluetooth of broadcast self information nearby
Value, indoor coordinate where calculating user according to RSSI value, finally determines position, though this method can be accurately positioned, positioning
Range can be as accurate as within 1 meter, but localizing environment needs to arrange a large amount of label bluetooth, and its continuous broadcast message is made
The reliability of positioning is affected so that the RSSI value that user obtains is unstable at interfering with each other for indoor positioning signal；Wi-Fi
Location technology: due to popularizing for Wi-Fi network, being now widely used, and Wi-Fi positioning is based on existing wlan network, using acquisition
RSSI value positioning method, Wi-Fi positioning can achieve meter level positioning (1~10 meter), and equipment is in the case where opening Wi-Fi, i.e.,
The AP signal of surrounding can be scanned and collect, regardless of whether encryption, if having connected or even signal strength deficiency can be shown in
In wireless signal list, these data that can indicate AP are sent location server by equipment, and server will by RSSI value
The equipment is calculated and sent in position, however the energy consumption of AP is higher, it is necessary to it is arranged in the position that can access power supply, and it sets up
Cost is also relatively high.
The present invention provides one embodiment, and as shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the positioning system of the embodiment is by three
The user of above transmission node, energy Bluetooth broadcast information, server composition；Multiple transmission node search obtain in positioning system
The location information of device broadcasts, and information is wirelessly transmitted to server, finally position is calculated by server, is basis
Transmission node coordinate and RSSI value combination trilateration in the data selected calculate the position of user；In detail,
Location information is passed through Bluetooth broadcast by user, includes the address for broadcasting bluetooth, the bluetooth function of transmission node in the location information
Energy block search simultaneously obtains location information and user's transmission signal power strength RSSI value and is stored in memory function module, passes
Defeated node enters working condition by standby mode, and WiFi function module is opened, and by quickly connecting AP access server and passing through
It crosses tcp/ip agreement and sends the data being packaged to server, the data of server process packing simultaneously finally calculate position.
In this embodiment, transmission node has Bluetooth function, WiFi function, micro process function, store function and power supply
Function, can wireless receiving forward data, in detail, transmission node has conventional Bluetooth and low-power consumption bluetooth functional module,
Bluetooth function module is the bluetooth BLE4.0 low-power consumption bluetooth module based on 2.4G, it supports bluetooth BLE4.0 consensus standard；It is blue
Tooth functional module is mainly used for the data that search obtains user's Bluetooth broadcast, and data are not limited only to the ground of user's Bluetooth signal
The parameters such as location, type of data packet, channel number also send signal power strength RSSI (Received Signal comprising user
Strength Indication) value.Transmission node has WiFi function module, and WiFi function module is based on 2.4G or 5.8G
Low-power consumption WiFi module, it supports 802.11b/g/n consensus standard, and WiFi function module has access to AP (Access
Point), data are sent, data are data acquired in bluetooth.Transmission node can also carry out storage and micro process to data
Memory function module screens data, is integrated, being saved in order to WiFi function module forwards.Transmission node has independent
The power module of power supply power supply is not necessarily to external power supply.As shown in figure 5, each functional module is connected by bus, transmission node is being positioned
The location coordinate information marked in system, each functional module connect a bus not just line by bus,
Modules are powered by power module, and Bluetooth function module and WiFi function module are public by bus, the number that bluetooth obtains
It is stored in memory function module according to by bus, WiFi function module passes through total line drawing data.
In this embodiment, location Calculation is that server is parsed and screened to the location information of packing, final to calculate
Out position；In detail, as shown in figure 8, the packaged data that server sends transmission node parse, transmission node hair is parsed
The data sent, data include the coordinate information of transmission node, user send signal power strength RSSI value, user's Bluetooth address and
Other Bluetooth informations simultaneously filter out other Bluetooth informations；RSSI value threshold value according to setting filters out the parsing for meeting threshold range
Data, then three optimal data of RSSI value are selected from the parsing data filtered out, according to the transmission section in the data selected
Point coordinate and RSSI value combination trilateration calculate the position of user；If do not meet three in threshold range and
Three or more data then carry out user coordinates calculating with next group of packaged data.
In this embodiment, positioning principle are as follows: as shown in fig. 7, being searched when user opens Bluetooth broadcast in localization region
Transmission node S1, S2, S3 within the scope of rope, S4, S5......Sm search obtain the Bluetooth address and RSSI value of user, other are not
Search user's broadcast message is in standby mode；Transmission node S1, S2, S3, the S4 of location data are obtained,
S5......Sm will respectively be transmitted to the Am AP after data micro process (AP is exactly the HUB in conventional wired networks, and is set up
Most common equipment when micro radio local area network；AP is equivalent to the bridge of connection a wired network and wireless network, main function
It is to connect together each wireless network clients, then by wireless network access network based on ethernet), AP can be with WIFI function
The router of energy, server obtain location data from router, the final position for determining user of analysis and calculating through server
It sets.
In this embodiment, transmission node with power saving be arranged, transmission node in the case where no location information is obtained from
Dynamic cutting WiFi function module simultaneously switches to dormant state, and Bluetooth function module, which reduces search rate, is in transmission node
Low-power consumption standby state；As shown in fig. 6, transmission node does not receive the information of user's broadcast, transmission node within the set time
The consumption of sleep for electricity saving state reduction electric energy will be entered, so that transmission node is kept optimal working performance, when transmission node is searched again
To location information, transmission node will be converted to operating mode rope.
In the present invention, location data is the Bluetooth function block search based on transmission node, WiFi function module forwards
And it obtaining, that is to say, that transmission node obtains by Bluetooth function block search and stores the location data of user's Bluetooth broadcast,
AP is accessed by WiFi function module and sends location data to server.The autonomous power-economizing method of transmission node: transmission node exists
Independently enter power save mode when not receiving location information in setting time.
The present invention has following advantage:
1. the present invention can be automatically positioned, when user opens Bluetooth broadcast, positioning is just had begun, and is shortened and is obtained position
The time of confidence breath.
2. the present invention is based on search to obtain address and the RSSI value that user broadcasts bluetooth, transmission node does not broadcast bluetooth letter
Breath, reduces the interference of positioning signal, obtains relatively stable location information, improve the reliability of positioning.
3. the present invention has autonomous power saving function, it can effectively improve the working time of positioning device and guarantee the work of device
Make performance.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of indoor orientation method, which comprises the steps of:
Step S1, it obtains location information and carries out data packing and forward；
Step S2, the data being packaged are obtained；
Step S3, the data that parsing is packaged；
Step S4, coordinate information and RSSI value are extracted；
Step S5, the parsing data for meeting threshold range are filtered out according to RSSI value threshold value, judge whether it is in RSSI value three
Or three or more optimal datas；If it is not, the return step S2 that clears data；If it is, calculating data obtains position.
2. a kind of indoor orientation method according to claim 1, which is characterized in that in step S5, calculate data and obtain
Transmission node coordinate and RSSI value combination trilateration in the data selected according to position calculate the position of user.
3. a kind of indoor orientation method according to claim 2, which is characterized in that in step S2, the data include
Signal power strength RSSI value, the Bluetooth address information of user that the coordinate information of transmission node, user send.
4. a kind of indoor orientation method according to claim 3, which is characterized in that in step S1, including step S101
With step S102；
Step S101, the data of user's Bluetooth broadcast are searched for；
Step S102, whether judgement has location data within the set time；If it is not, into battery saving mode；If so, then
Into operating mode.
5. a kind of indoor orientation method according to claim 4, which is characterized in that in step S1, in step S1 also
Including after the step S102 step S103, storage and micro process are carried out to data, and data are screened, integrates and beats
Packet and preservation.
6. a kind of indoor orientation method according to claim 5, which is characterized in that in step S1, in step S1 also
Including the step S104 after the step S103, the data that access AP and send packing.
7. a kind of indoor orientation method according to claim 6, which is characterized in that in step S1, in step S101,
The data of user's Bluetooth broadcast include the letter of the parameters such as address, type of data packet, the channel number of user's Bluetooth signal, user's transmission
Number power level RSSI value.
8. a kind of indoor orientation method according to claim 7, which is characterized in that in step S102, if it is determined that
It without location data in setting time, automatically cuts off WiFi function module in transmission node and switches to dormant state, pass
Bluetooth function module, which reduces search rate, in defeated node makes transmission node be in low-power consumption standby state.
9. a kind of indoor locating system, which is characterized in that user, server and at least three including energy Bluetooth broadcast information pass
Defeated node；
Location information is passed through Bluetooth broadcast by user；
Transmission node is used to search for and obtain the RSSI value of location information and user's transmission and store to it then connection AP
Access server simultaneously sends the data of packing to server；
Server is used to handle the data being packaged and finally calculates position.
10. a kind of indoor locating system according to claim 9, which is characterized in that the transmission node includes for searching
Rope simultaneously obtains the Bluetooth function module for the RSSI value that location information and user send, for storing depositing for location information and RSSI value
Storage functional module, for connect AP access server and send the data of packing to the WiFi function module of server and for into
The power module of row power supply.
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Application publication date: 20191129 |