CN110706505A - Underground garage car searching system based on Bluetooth 5.1 starting angle - Google Patents
Underground garage car searching system based on Bluetooth 5.1 starting angle Download PDFInfo
- Publication number
- CN110706505A CN110706505A CN201910828587.8A CN201910828587A CN110706505A CN 110706505 A CN110706505 A CN 110706505A CN 201910828587 A CN201910828587 A CN 201910828587A CN 110706505 A CN110706505 A CN 110706505A
- Authority
- CN
- China
- Prior art keywords
- bluetooth
- license plate
- plate number
- mobile phone
- server
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10237—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the reader and the record carrier being capable of selectively switching between reader and record carrier appearance, e.g. in near field communication [NFC] devices where the NFC device may function as an RFID reader or as an RFID tag
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Toxicology (AREA)
- Health & Medical Sciences (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an underground garage vehicle searching system based on a Bluetooth 5.1 starting angle, and belongs to the field of accurate real-time positioning vehicle searching guidance. The intelligent parking lot system comprises an electronic tag, an electronic tag information reader-writer, a geomagnetic Bluetooth parking space detector, a positioning module, a Bluetooth mesh gateway, a server and a mobile phone client. The electronic tag and the reader-writer record and transmit the license plate number information of the user; the geomagnetic Bluetooth parking place detector detects parking places and transmits license plate number information of occupied parking places; the positioning module sends a positioning beacon to the mobile phone of the user; the gateway collects the license plate number of the user and the number information of the corresponding occupied parking space and forwards the license plate number and the number information to the server, and can inform a positioning module required by the vehicle searching to send a positioning beacon; the mobile phone receives the beacon of the positioning module, pushes the current position to the server and receives the real-time car searching route. The invention adopts the Bluetooth 5.1 starting angle technology to search the vehicle, has low required cost, simple construction, safety and reliability, does not need to depend too much on base station signals, and can still enable a user to quickly and accurately search the vehicle even under the condition of weak signals.
Description
Technical Field
The invention relates to the field of indoor positioning and vehicle searching guidance, in particular to an underground garage vehicle searching system based on a Bluetooth 5.1 starting angle technology.
Background
At present, a plurality of cameras are mostly required to be arranged in an underground garage to shoot parking positions of vehicles, and parking position information of users is pushed to the users according to an image recognition algorithm when the vehicles are searched. If the automobile is searched by using a Bluetooth 5.1 starting angle and a Bluetooth mesh networking technology, the accurate real-time automobile searching of the underground garage can be realized only by configuring serial Bluetooth equipment. The scheme has the advantages of low equipment cost, simple construction, safety and reliability, and no need of depending on base station signals too much.
Disclosure of Invention
The application provides a car system is sought to underground garage based on bluetooth 5.1 angle of departure technique for realize accurate real-time underground garage location and seek car navigation.
Specifically, the car searching system comprises: the system comprises a license plate number identification module, an electronic tag information reader-writer, a positioning module, a geomagnetic Bluetooth parking space detector, a Bluetooth mesh gateway, a server and a mobile phone client;
the license plate number identification module is used for identifying license plate number information of a vehicle, and the electronic tag information reader-writer is used for writing the license plate number information into the electronic tag;
the electronic tag is used for recording the license plate number information, and when a user enters the underground garage, the electronic tag is taken and placed in a vehicle until the user is returned when the user leaves the underground garage, and the electronic tag is also used for broadcasting the license plate number information;
the geomagnetic Bluetooth parking place detector is arranged at each parking place and records the parking place position information or the parking place number information, and is also used for detecting license plate number information broadcasted by the electronic tag when judging that the parking place is occupied, screening out the license plate number information with the strongest signal intensity as target license plate number information, and sending the target license plate number information and the parking place position information or the parking place number information to the Bluetooth mesh gateway;
the Bluetooth mesh gateway is interconnected and intercommunicated with the geomagnetic Bluetooth parking space detector through a mesh network, and is also used for transmitting the target license plate number information and the parking space position information to a server;
the positioning module is arranged in each parking space, connected with the Bluetooth mesh gateway and used for transmitting a positioning beacon by adopting a Bluetooth 5.1 departure angle AOD and an antenna array technology;
the server is used for associating the target license plate number information with the positioning module;
the mobile phone client is used for responding to a car searching instruction of a user and sending target license plate number information to a server, the server is also used for indicating the Bluetooth mesh gateway to enable a positioning module associated with the target license plate number to transmit a positioning beacon, the mobile phone client is also used for receiving the positioning beacon, carrying out IQ sampling, calculating a relative signal direction based on IQ sample data, and calculating a relative distance according to signal strength RSSI.
Further, the mobile phone client is further configured to send the relative signal direction and the relative distance to the server, and the server is further configured to generate a car-finding route according to the relative signal direction, the relative distance, and the parking space position information, and send the car-finding route to the mobile phone client.
Further, the mobile phone client is further configured to acquire the antenna array configuration and the switching sequence of the positioning module according to the AOD technology, and calculate the current spatial position of the mobile phone client according to the received angle position information and the signal strength position information generated by the plurality of positioning beacons.
Further, when the mobile internet signal of the environment where the mobile phone client is located is strong, the mobile phone client communicates with the server through the mobile internet; and when the mobile internet signal of the environment where the mobile phone client is located is weak, the mobile phone client communicates with the server through the Bluetooth mesh gateway.
Further, ground magnetism bluetooth parking stall detector is when judging the parking stall of place and whether being taken up, and the magnetic line of force twists the condition and judges through the vehicle when passing through, perhaps, judges through the magnetic field intensity change of the perpendicular of detection vehicle to magnetic field and horizontal direction when passing through.
Further, the air conditioner is provided with a fan,
the mobile phone client side obtains the starting angle in the following mode:
determining output power
When the maximum value is reached, the corresponding angle theta is a starting angle, wherein the covariance matrix of the sample
H stands for Hermite matrix permutation, and the guide vector a (theta) is [1, e ]j2 πd sinθ/λ,…,ej2π(m-1)d sinθ/λ]Where d is the distance between adjacent antennas; λ is the signal wavelength; m is the number of elements in the antenna array; the function x (t) of IQ sample data vector x and time t, a (θ) s (t) + n (t), s represents the transmitted signal in the air, and a is the steering vector of the antenna array.
Further, the air conditioner is provided with a fan,
the mobile phone client side obtains the starting angle in the following mode:
to the sample covariance matrix
Characteristic decomposition is carried out, RXX＝VAV-1Where A is a diagonal matrix containing eigenvalues and V is the corresponding eigenvector containing Rxx;
determining output power
At the maximum, the corresponding angle θ is the departure angle.
Further, the air conditioner is provided with a fan,
the relative distance d is obtained by the following formula:
wherein, RSSI is the received signal strength (negative value), A is the signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is the environmental attenuation factor.
Further, ground magnetism bluetooth parking stall detector acquires through the mode of slip filtering magnetic field intensity specifically includes:
after N sliding filtering processes are performed on the geomagnetic signal s (k), the average value is a (k), as follows:
wherein, i belongs to (x, y, z), i represents x, y, z coordinates, and N can be in the value range of [20,30 ].
Further, the server is used for recording the time information of the vehicle entering the underground garage, calculating parking cost according to the parking duration and sending the parking cost to the mobile phone client.
Thereby this application embodiment learns angle information and relative distance information at user place through bluetooth 5.1 AOD's technique and learns user's position, realizes indoor navigation, is convenient for find target parking stall.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a working block diagram of each relevant device in the car searching system provided by the embodiment of the invention;
fig. 2 is a schematic view of an approach flow in the car-finding system according to the embodiment of the present invention;
fig. 3 is a schematic view illustrating a parking process in the car searching system according to the embodiment of the present invention;
fig. 4 is a schematic flow chart of a car-searching departure in the car-searching system according to the embodiment of the present invention;
fig. 5 is a schematic circuit diagram of an electronic tag in the car searching system according to the embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of an electronic tag information reader/writer in the car-finding system according to the embodiment of the present invention
Fig. 7 is a schematic circuit diagram of a bluetooth mesh gateway in the car finding system according to the embodiment of the present invention;
fig. 8 is a schematic circuit diagram of a geomagnetic bluetooth parking space detector in the vehicle searching system according to the embodiment of the present invention;
fig. 9 is a schematic circuit diagram of a positioning module in the car searching system according to the embodiment of the present invention;
fig. 10 and fig. 11 are descriptions of a departure angle AOD technology in the car-finding system according to the embodiment of the present invention;
fig. 12 is a schematic view of navigation vehicle finding in the vehicle finding system according to the embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, the car-searching system of the present invention includes an electronic tag, an electronic tag information reader/writer, a PC, a geomagnetic bluetooth car position detector, a bluetooth mesh gateway, a server, a positioning module, and a mobile phone WeChat applet. The electronic tag obtains license plate number information from the electronic tag information reader-writer through NFC; the electronic tag information reader-writer obtains the license plate number information from the PC through the UART serial port; the PC acquires a license plate image through the front camera of the gate, identifies license plate number information through the image and then records the license plate number information and the approach time into a database of the server; the server database binds the relation between the Bluetooth ID of the geomagnetic Bluetooth parking space detector and the parking space; after the license plate number is shot when a user enters a field and is subjected to image recognition processing, the license plate number is bound with the entering time so as to calculate the cost when the user leaves the field; the geomagnetic Bluetooth parking space detector detects whether a parking space is occupied, if the parking space is confirmed to be occupied, a Bluetooth receiving antenna is turned on, a broadcast beacon with license plate information, the signal intensity of which is strongest and reaches a threshold value, is received, and the information is reported to a Bluetooth mesh gateway; the Bluetooth mesh gateway forwards the information received by the geomagnetic Bluetooth parking space detector to the server, so that the server knows which parking space is occupied by which license plate number (user), and meanwhile, the Bluetooth mesh gateway informs which positioning module is enabled to start to circularly switch the antenna to send the AOD positioning beacon of the 5.1 protocol; the mobile phone (WeChat small program) knows the switching sequence of the antenna array in advance, carries out IQ sampling after receiving a positioning beacon sent by a positioning module, obtains the angle of a user through a series of algorithms, obtains the relative distance of the user through signal intensity, thereby obtaining the position of the user, reports the current position to a server in real time by the mobile phone, and the server calculates, generates and pushes a car searching route to the small program for the user to select the car searching route to start car searching.
As shown in fig. 2, a process of entering the field of the user is introduced, before the user enters the gate, the license plate information is shot by the camera, the server records the entering time, the license plate number is analyzed by the image recognition technology, the license plate number information is led into the electronic tag through the NFC of the electronic tag information reader, and the user can enter the field after taking the electronic tag.
As shown in fig. 3, a process of parking by a user is introduced, the user guides to find a parking space according to a parking space indicator lamp and the remaining number of parking spaces (a vacant parking space is not described in the present invention), a geomagnetic bluetooth parking space detector carried on the ground surface of each parking space detects the parking space occupation state by using a pre-algorithm, when the parking is detected, a bluetooth receiving antenna is turned on, a beacon which is sent out periodically by an electronic tag on the user's car and contains license plate number information is received, the beacon is reported to a bluetooth mesh gateway through bluetooth mesh, and the gateway forwards the information to a server.
As shown in fig. 4, a process of searching for a car and leaving a field by a user is introduced, the user opens a mobile phone WeChat, scans a two-dimensional code/opens a small program, and opens a mobile phone Bluetooth switch, the user inputs a license plate number, after the small program reports license plate number information to a server, the server sends a positioning module command enabling a corresponding area to a gateway according to the license plate number, the gateway informs a specified positioning module through Bluetooth mesh, the positioning module circularly switches an antenna to send a beacon, the user small program calculates the position of the user according to a Bluetooth 5.1AOD protocol and a related algorithm, and feeds the position back to the server, the server provides a car searching route in real time, and the user can start to search for the car in real time by selecting the route. The user can select to settle the parking fee in advance in the mobile phone applet and pay the electronic tag to leave the field, or pay the fee when paying the electronic tag before going out of the gate, and leave the field after paying the fee.
As shown in fig. 5, the electronic tag of the present invention employs a processor of Nordic bluetooth 5.0 protocol with model number nrf52832, wherein P0.09 and P0.10 are connected to NFC antenna, and XC1 and XC2 are connected to 32MHz crystal oscillator in normal operation; XL1 and XL2 are connected with a 32.768kHz crystal oscillator which mainly provides an accurate working clock in a low power consumption mode for the Bluetooth SOC; in addition, the power supply module supplies power by using a button cell CR2032 and stably outputs 3V. The processor triggers an interrupt to exit the low power consumption mode only when the NFC approaches, and then exchanges information through the NFC.
As shown in fig. 6, on the basis of the schematic diagram of the electronic tag, the electronic tag information reader/writer needs to extract P0.05(RTS), P0.06(TXD), P0.07(CTS), and P0.08(RXD) as serial ports for communicating with a PC; the voltage conversion module converts the 5V input voltage into 3.3V by using the AMS1117-3.3V voltage stabilizing chip.
As shown in fig. 7, the bluetooth mesh gateway of the present invention is composed of a processor, a serial wifi, an ethernet controller, and a voltage conversion module. The processor adopts Nordic corporation model nrf52840 and carries a serial port WIFI module, the model is ESP-8266-12S, wherein P0.05(RTS), P0.06(TXD), P0.07(CTS) and P0.08(RXD) are respectively connected with the 2 nd pin, the 16 th pin, the 1 st pin and the 15 th pin of the serial port WIFI module; in addition, the processor communicates with the W5500 ethernet controller chip through the SPI bus, wherein the processor SPI bus respectively uses pins P0.16(CS), P0.19(SCK), P0.20(SI), and P0.21(SO) to respectively interact with the W5500 for information, and in addition, the W5500 needs to be configured with a 25M crystal oscillator; in addition, the net port part adopts RJ45-HR911105A with a transformer inside and communicates with W5500 through TD +, TD-, RD +, RD-; the voltage conversion module converts the 5V input voltage into 3.3V by using the AMS1117-3.3V voltage stabilizing chip.
As shown in fig. 8, the geomagnetic bluetooth parking space detector of the present invention includes a geomagnetic sensor, a photo resistor, a bluetooth 5.0 protocol processor, and a battery power supply module. The processor adopts nrf52832 of Nordic company, and the geomagnetic sensor adopts a miniature, low-power-consumption and three-axis digital geomagnetic sensor MAG3110 of Freescale company. Wherein, the pins P0.12 and P0.13 of the processor are respectively connected with the 6 th pin (SDA) and the 7 th pin (SDL) of the geomagnetic sensor, and the I2C two-wire communication is adopted, and here, it should be noted that the 6 th pin and the 7 th pin of the geomagnetic sensor need to be connected with pull-up resistors, and the pin P0.11 of the processor is connected with the 9 th pin of the geomagnetic sensor; the pin P0.19 of the processor is connected with a photoresistor PT850 through a triode Q1 (conducting during illumination), when the illumination intensity is strong, the Q1 is not conducted, the IO port P0.19 is pulled up to a high level by R17, when light is shielded, the photoresistor fails, the Q1 is conducted, the pin P0.19 is pulled down to a low level, the pin P0.19 is configured to be triggered and interrupted by a falling edge, the processor is awakened, the processor commands the geomagnetic sensor to enter a working state, and then the processor enters a dormant state. The battery power supply module adopts a button battery CR2032 for power supply and stably outputs 3V. When the local magnetic sensor changes data (x, y and z), the processor is awakened through the INT pin, the processor acquires current x, y and z axis data through the I2C bus, and after the parking space is judged to be occupied through a sliding filter algorithm, the parking space is determined to be occupied in a double mode, and the misjudgment rate is greatly reduced.
And further, judging whether the parking space is occupied or not according to the change of the magnetic field. At different distances, the magnetic field strength is quite different, although the Z-axis curves are quite similar. 1 foot to 5 feet, the field strength decays very quickly. The further away the distance, the values decay rapidly. Therefore, whether the automobile passes through can be judged by calculating the magnetic field intensity change condition of the whole geomagnetic field when the automobile passes through, and the size S of the magnetic field meets the following formula:
wherein, X, Y, Z are respectively the X, Y, Z-axis data that magnetic sensor gathered.
Furthermore, when the sensor only detects the vehicle in a single lane and ignores the vehicles in other lanes, the characteristic of magnetic field change is sensitive and accurate to judge whether the vehicle exists or not. When the vehicle is not in use, a magnetic field baseline value is calibrated, a threshold value is set, when the difference value of the magnetic field intensity and the magnetic field baseline value is greater than the threshold value, the vehicle is judged to be in use, when the magnetic field returns to the magnetic field baseline value, the vehicle is judged to be out of use, the threshold value represents the sensitivity, and after the curve is subjected to smoothing processing, interference signals caused by nearby lanes or remote vehicles can be filtered.
Furthermore, the sliding filtering specifically comprises the step of carrying out mean value processing on the current signal and the signals for N-1 times, and the method can effectively eliminate high-frequency interference. After N sliding filtering processes are performed on the geomagnetic signal s (k), the average value is a (k), which is expressed by the following formula (2):
wherein, i belongs to (x, y, z), i represents x, y, z coordinates, and N can be in the value range of [20,30 ].
Further, when the xyz axis data detected by the geomagnetic sensor MAG3110 changes, the processor wakes up the dormant nrf52832 through the INT pin, obtains the data through the I2C interface, and smoothly calculates the magnetic field strength, and determines that the vehicle is present when the difference between the magnetic field strength sampled for a plurality of times and the baseline value is greater than the threshold value. And when the judgment result shows that the vehicle exists, the processor opens the Bluetooth antenna, receives and screens the broadcast beacon with the license plate information periodically sent by the in-vehicle electronic tag with the strongest signal intensity (needing to reach a certain limited threshold value) through a Bluetooth 5.0 protocol, then transmits the broadcast beacon to the Bluetooth mesh gateway, and after transmission is finished, the processor enters a dormant state again, so that the power consumption of the whole machine is reduced.
As shown in fig. 9, the positioning module of the present invention includes a bluetooth 5.1 protocol processor, an antenna switching array, and a voltage conversion module. The processor adopts Nordic nrf52811 and the antenna array is a 4 × 4 square array. P0.06, P0.07, P0.08, P0.09, P0.10, P0.11, P0.12, P0.13, P0.14, P0.15, P0.16, P0.17, P0.18, P0.19, P0.20 and P0.21 of the processor are respectively connecting switches of the antennas 1-16, when a certain IO is set to be at a high level, PIN diodes (respectively corresponding to D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, D15 and D16) in the antenna switching circuit enter a positive bias state, are in a low-resistance characteristic and are considered to be a short circuit and are considered to be an open antenna, and when the IO is set to be at a low level, PIN diodes enter a zero bias state, are considered to be a high-resistance characteristic and are considered to be an open circuit; the voltage conversion module converts the 5V input voltage to 3.3V.
As shown in fig. 10 and fig. 11, the introduction of the AOD according to the bluetooth 5.1 departure angle is also a core indoor positioning technology in the car-finding system of the present invention. Assuming that the distance between the two antennas of the positioning module antenna array is d, the receiving device (mobile phone) using a single antenna receives these wireless signals, and the phase difference ψ generated by the signal from the transmitting antenna 1 to the transmitting antenna 2 should satisfy the following relationship:
ψ＝(2πd cos(θ))/λ (3)
wherein λ is the wavelength of the wireless signal, θ is the angle of departure of the signal, which can be measured from the angle between the connection extension of the two antennas of the transmitter and the connection line of the receiving end, and the departure angle θ satisfies the following relationship:
θ＝arccos((ψλ)/(2πd)) (4)
further, the receiver (handset WeChat applet) requires powerful hardware processing capability to estimate the departure angle from the extracted IQ sample data, and for this problem, two solutions (running in reality) are listed below:
the first is the basic, classical beamformer, which is referred to from a mathematical model of a uniform linear array. Let the data vector for one IQ sample per antenna be called x. In the measurement, each antenna can see a phase shift (possibly 0), plus some noise n, so the function of the IQ sample data vector x and time t is as follows:
x(t)＝a(θ)s(t)+n(t), (5)
where s represents the transmitted signal in the air and a is the steering vector for the antenna array.
d is the distance between adjacent antennas; λ is the signal wavelength; m is the number of elements in the antenna array; and theta represents a departure angle.
a(θ)＝[1,ej2πd sinθ/λ,…,ej2π(m-1)d sinθ/λ], (6)
The steering vector (6) describes how the signal on each antenna is phase shifted due to the change in distance to the receiver. By using equation (5), we can calculate an approximation of the so-called sample covariance matrix Rxx:
where H stands for hermitian permutation and the sample covariance matrix (7) will be used as input to the estimation algorithm. The idea of the classical beamformer is to maximize the output power as a function of angle, similar to the way mechanical radars work. If the power is maximized, then there are:
in order to find the departure angle, it is necessary to use the departure angle θ and find the peak maximum power P. The angle at which maximum power is generated corresponds to the departure angle. However, this method may be relatively simple and is often not very accurate. There is another method, which is better in accuracy.
The second is a multiple signal classification algorithm, which is characterized by a common variance matrix Rxx:
RXX＝VAV-1, (9)
where A is the diagonal matrix containing eigenvalues and V is the corresponding eigenvector containing Rxx. Assume that an attempt is made to calculate the starting angle for a transmitter using a linear array of n antennas. It can be shown that the eigenvectors of Rxx belong either to the so-called noise subspace or to the signal subspace. If the eigenvalues are sorted in ascending power, the corresponding n-1 eigenvector spans the noise subspace, which is orthogonal to the signal subspace. From the quadrature information, the pseudo spectrum P can be calculated:
in a classical beamformer, the maximum value of P is calculated continuously bringing in the desired θ, which corresponds to the angle of departure (parameter θ) of the desired measurement.
Ideally, the multiple signal classification algorithm has excellent resolution in a good SNR environment and is very accurate. On the other hand, performance is poor when the input signals are highly correlated, especially in indoor environments. Multipath effects distort the pseudo spectrum, resulting in maxima at the wrong locations. Thus, spatial smoothing can be used to solve the problems caused by multipath (when generating coherent signals). It can be proved that the average covariance matrix can be calculated by using the subarray of the original covariance matrix, so that the signal covariance matrix is decorrelated. For a two-dimensional array, the formula is as follows:
wherein Ms and Ns are the numbers of the subarrays on the x-axis and the y-axis respectively, and Rmn represents (m, n) a subarray covariant matrix. The covariance matrix obtained from the formula is the decorrelated version of the covariance matrix, and the input to the multi-signal classification algorithm can produce the correct result. The disadvantage of spatial smoothing is that it reduces the size of the covariance matrix, reducing the accuracy of the estimation.
After calculating the more accurate departure angle θ, the distance d between transmission and reception can be measured by using the transmission/Reception Signal Strength Indicator (RSSI), and the calculation formula is as follows:
wherein RSSI is the received signal strength (negative value), A is the signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is the environmental attenuation factor. The A value and the N value are fixed values and can be obtained only by continuously passing field tests, and the attenuation factors of different field environments are different.
Based on the calculated angle and distance, the receiver (user's handset) can know its position in space. The mobile phone WeChat applet of the user can report the position to the server through the mobile internet preferentially (when the signal is weak, the mobile phone reports the position information to the gateway through the mesh proxy node, and the gateway forwards the position information to the server), after receiving the position information, the server calculates and generates a car searching route according to the target position and the current position information of the user and pushes the route to the mobile phone of the user, and then the user is guided to search the car.
The working principle of the underground garage vehicle-searching system based on the Bluetooth 5.1 departure angle is shown in figure 12, a user inputs a license plate number, a server informs a positioning module on a corresponding parking space to work, the positioning module switches antennas in sequence to transmit positioning beacons, a mobile phone receives and calculates the departure angle, when the user is at the position A, IQ sample data contained in the beacons are calculated through series formulas (3) - (11) to obtain angles theta 1, theta 2 and theta 3, the relative distance between the IQ sample data and the positioning module is calculated according to signal intensity values, the user sends coordinate information of the position A to the server, the server calculates a vehicle-searching route according to the position and the target position of the user and pushes the vehicle-searching route to the mobile phone of the user, similarly, when the user is at the position B, the angles theta 4, theta 5 and theta 6 are obtained, the coordinate information is sent to the server, the server calculates the vehicle-searching route according to the position and the target position of the user and pushes the mobile phone of, and finally, the user successfully finds the own favorite vehicle according to the vehicle finding route.
The Bluetooth mesh gateway provided by the application is interconnected and intercommunicated with the geomagnetic Bluetooth parking space detector through a mesh network, and transmits the received license plate information, parking position and other information to the server.
Furthermore, the bluetooth mesh can support up to ten thousand nodes in a single network, and the bluetooth mesh can forward information in a controllable flooding manner, so that the information fails from any single point in the network, and the information can be transmitted to a destination node through other paths, thereby ensuring the robustness of the network.
Furthermore, the bluetooth mesh network is a real industrial-level solution, a verified security algorithm is used for configuring equipment added to the network, all information needs to be encrypted and authenticated by using 128-bit AES-CCM, all information in the bluetooth mesh network needs to be encrypted and authenticated, the encryption and authentication are applied to a network layer and an application layer, and two groups of secret keys are used for management respectively.
Furthermore, the Bluetooth mesh is different from other mesh topologies, a central gateway is not needed, nodes communicate with the nodes, and network access is realized through configuration.
Furthermore, as above earth magnetism bluetooth parking stall detector will be the most main low-power consumption node member in the mesh network deployment, detect that the parking stall is occupied and just can open bluetooth transmitting antenna, will effective information acquisition and report to bluetooth mesh gateway to reach and save complete machine consumption purpose, extension detector life.
Further, optionally, a bluetooth mesh repeater is added as a relay node to transmit the valid information to the bluetooth mesh gateway.
The server provided by the implementation of the application receives the license plate number of the gateway relative to the user, associates with the parking space, and calculates the cost according to the recorded information such as the entrance time and the parking duration.
According to the mobile phone WeChat applet provided by the implementation of the application, a mobile phone Bluetooth 5.1 bottom layer interface is called, IQ sampling is carried out through a broadcast beacon sent by a receiving and positioning module, the algorithm can calculate the AOD (automatic optical pointing device) in the relative signal direction based on IQ sample data, and the relative distance is calculated according to the RSSI (signal strength indicator).
To summarize, the car locating system in the present application includes: the system comprises a license plate number identification module, an electronic tag information reader-writer, a positioning module, a geomagnetic Bluetooth parking space detector, a Bluetooth mesh gateway, a server and a mobile phone client;
the license plate number identification module identifies license plate number information of a vehicle, and the electronic tag information reader writes the license plate number information into the electronic tag;
the electronic tag records the license plate number information, is taken and placed in a vehicle when a user enters the underground garage until the user is returned when the user leaves the underground garage, and broadcasts the license plate number information;
the geomagnetic Bluetooth parking space detector is arranged at each parking space and records the parking space position information, and is also used for detecting license plate number information broadcasted by the electronic tag when judging that the parking space is occupied, screening out license plate number information with the strongest signal intensity as target license plate number information, and sending the target license plate number information and the parking space position information to the Bluetooth mesh gateway;
the Bluetooth mesh gateway is interconnected and intercommunicated with the geomagnetic Bluetooth parking space detector through mesh networking and also transmits the target license plate number information and the parking space position information to a server;
the positioning module is arranged in each parking space, connected with the Bluetooth mesh gateway and used for transmitting a positioning beacon by adopting a Bluetooth 5.1 departure angle AOD and an antenna array technology;
the server is used for associating the target license plate number information with the positioning module;
the mobile phone client is used for responding to a car searching instruction of a user and sending target license plate number information to the server, the server instructs the Bluetooth mesh gateway to enable the positioning module associated with the target license plate number to transmit a positioning beacon, the mobile phone client receives the positioning beacon, IQ sampling is carried out, the relative signal direction is calculated based on IQ sample data, and the relative distance is calculated according to the signal strength RSSI.
Further, the mobile phone client sends the relative signal direction and the relative distance to the server, and the server is further configured to generate a car-searching route according to the relative signal direction, the relative distance, and the parking space position information, and send the car-searching route to the mobile phone client.
Further, the mobile phone client obtains the antenna array configuration and the switching sequence of the positioning module according to the AOD technology, and calculates the current spatial position of the mobile phone client according to the received angle position information and the signal strength position information generated by the plurality of positioning beacons. For example, using triangulation principles, spatial position is known.
Further, when the mobile internet signal of the environment where the mobile phone client is located is strong, the mobile phone client communicates with the server through the mobile internet; and when the mobile internet signal of the environment where the mobile phone client is located is weak, the mobile phone client communicates with the server through the Bluetooth mesh gateway.
Further, ground magnetism bluetooth parking stall detector is when judging the parking stall of place and whether being taken up, and the magnetic line of force twists the condition and judges through the vehicle when passing through, perhaps, judges through the magnetic field intensity change of the perpendicular of detection vehicle to magnetic field and horizontal direction when passing through.
Further, the air conditioner is provided with a fan,
the mobile phone client side obtains the starting angle in the following mode:
determining output power
When the maximum value is reached, the corresponding angle theta is a starting angle, wherein the covariance matrix of the sampleH stands for Hermite matrix permutation, and the guide vector a (theta) is [1, e ]j2 πd sinθ/λ,…,ej2π(m-1)d sinθ/λ]Where d is the distance between adjacent antennas; λ is the signal wavelength; m is the number of elements in the antenna array; the function x (t) of IQ sample data vector x and time t, a (θ) s (t) + n (t), s represents the transmitted signal in the air, and a is the steering vector of the antenna array.
Further, the air conditioner is provided with a fan,
the mobile phone client side obtains the starting angle in the following mode:
to the sample covariance matrix
Characteristic decomposition is carried out, RXX＝VAV-1Where A is a diagonal matrix containing eigenvalues and V is the corresponding eigenvector containing Rxx;
determining output power
At the maximum, the corresponding angle θ is the departure angle.
Further, the air conditioner is provided with a fan,
the relative distance d is obtained by the following formula:
wherein, RSSI is the received signal strength (negative value), A is the signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is the environmental attenuation factor.
Further, ground magnetism bluetooth parking stall detector acquires through the mode of slip filtering magnetic field intensity specifically includes:
after N sliding filtering processes are performed on the geomagnetic signal s (k), the average value is a (k), as follows:
wherein, i belongs to (x, y, z), i represents x, y, z coordinates, and N can be in the value range of [20,30 ].
Further, the server also records the time information of the vehicle entering the underground garage, calculates parking cost according to the parking time and sends the parking cost to the mobile phone client.
The car system of seeking in this application utilizes earth magnetism detection technology to learn the position of vehicle to bind with corresponding orientation module, when the user seeks the car, learn the angle and the distance of user's cell-phone relative orientation module through bluetooth 5.1 angle of departure AOD technique, then utilize angle and the position of multiple measurements, can utilize triangulation's principle to learn user's spatial position, realized that underground garage does not have navigation under the GPS condition and sought the car.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a car system is sought to underground garage based on bluetooth 5.1 angle of departure which characterized in that includes: the system comprises a license plate number identification module, an electronic tag information reader-writer, a positioning module, a geomagnetic Bluetooth parking space detector, a Bluetooth mesh gateway, a server and a mobile phone client;
the license plate number identification module is used for identifying license plate number information of a vehicle, and the electronic tag information reader-writer is used for writing the license plate number information into the electronic tag;
the electronic tag is used for recording the license plate number information, and when a user enters the underground garage, the electronic tag is taken and placed in a vehicle until the user is returned when the user leaves the underground garage, and the electronic tag is also used for broadcasting the license plate number information;
the geomagnetic Bluetooth parking place detector is arranged at each parking place and records the parking place position information or the parking place number information, and is also used for detecting license plate number information broadcasted by the electronic tag when judging that the parking place is occupied, screening out the license plate number information with the strongest signal intensity as target license plate number information, and sending the target license plate number information and the parking place position information or the parking place number information to the Bluetooth mesh gateway;
the Bluetooth mesh gateway is interconnected and intercommunicated with the geomagnetic Bluetooth parking space detector through a mesh network, and is also used for transmitting the target license plate number information and the parking space position information or the parking space number information to a server;
the positioning module is arranged in each parking space, connected with the Bluetooth mesh gateway and used for transmitting a positioning beacon by adopting a Bluetooth 5.1 departure angle AOD and an antenna array technology;
the server is used for associating the target license plate number information with the positioning module;
the mobile phone client is used for responding to a car searching instruction of a user and sending target license plate number information to a server, the server is also used for indicating the Bluetooth mesh gateway to enable a positioning module associated with the target license plate number to transmit a positioning beacon, the mobile phone client is also used for receiving the positioning beacon, carrying out IQ sampling, calculating a relative signal direction based on IQ sample data, and calculating a relative distance according to signal strength RSSI.
2. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle as claimed in claim 1, wherein the mobile phone client is further configured to send the relative signal direction and the relative distance to the server, and the server is further configured to generate a vehicle searching route according to the relative signal direction, the relative distance, and the parking space position information, and send the vehicle searching route to the mobile phone client.
3. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle according to claim 1 or 2, wherein the mobile phone client is further configured to obtain the antenna array configuration and the switching sequence of the positioning module according to an AOD technology, and calculate the current spatial position of the mobile phone client according to the received angle position information and the signal strength position information generated by the plurality of positioning beacons.
4. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle as claimed in claim 2, wherein when the mobile internet signal of the environment where the mobile client is located is strong, the mobile client communicates with the server through the mobile internet; and when the mobile internet signal of the environment where the mobile phone client is located is weak, the mobile phone client communicates with the server through the Bluetooth mesh gateway.
5. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle as claimed in claim 1 or 2, wherein the geomagnetic Bluetooth parking space detector judges through the distortion of magnetic lines of force when the vehicle passes by when judging whether the parking space is occupied or not, or judges through detecting the magnetic field intensity changes of the magnetic field in the vertical and horizontal directions when the vehicle passes by.
6. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle according to claim 1 or 2,
the mobile phone client side obtains the starting angle in the following mode:
determining output power
When the maximum value is reached, the corresponding angle theta is a starting angle, wherein the covariance matrix of the sample
H stands for Hermite matrix permutation, and the guide vector a (theta) is [1, e ]j2πd sinθ/λ,…,ej2 π(m-1)d sinθ/λ]Where d is the distance between adjacent antennas; λ is the signal wavelength; m is the number of elements in the antenna array; the function x (t) of IQ sample data vector x and time t, a (θ) s (t) + n (t), s represents the transmitted signal in the air, and a is the steering vector of the antenna array.
7. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle according to claim 1 or 2,
the mobile phone client side obtains the starting angle in the following mode:
to the sample covariance matrix
Characteristic decomposition is carried out, RXX＝VAV-1Where A is a diagonal matrix containing eigenvalues and V is the corresponding eigenvector containing Rxx;
determining output power
At the maximum, the corresponding angle θ is the departure angle.
8. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle according to claim 1 or 2,
the relative distance d is obtained by the following formula:wherein, RSSI is the received signal strength, A is the signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is the environmental attenuation factor.
9. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle as claimed in claim 5, wherein the geomagnetic Bluetooth parking space detector obtains the magnetic field strength by means of sliding filtering, specifically comprising:
after N sliding filtering processes are performed on the geomagnetic signal s (k), the average value is a (k), as follows:
wherein, i belongs to (x, y, z), i represents x, y, z coordinates, and N can be in the value range of [20,30 ].
10. The underground garage vehicle searching system based on the Bluetooth 5.1 departure angle as claimed in claim 1 or 2, wherein the server is further configured to record time information of the vehicle entering the underground garage, calculate parking fees according to parking duration, and send the parking fees to the mobile phone client.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828587.8A CN110706505A (en) | 2019-09-03 | 2019-09-03 | Underground garage car searching system based on Bluetooth 5.1 starting angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828587.8A CN110706505A (en) | 2019-09-03 | 2019-09-03 | Underground garage car searching system based on Bluetooth 5.1 starting angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110706505A true CN110706505A (en) | 2020-01-17 |
Family
ID=69193940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910828587.8A Pending CN110706505A (en) | 2019-09-03 | 2019-09-03 | Underground garage car searching system based on Bluetooth 5.1 starting angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110706505A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654819A (en) * | 2020-03-31 | 2020-09-11 | 北京小米移动软件有限公司 | Garage vehicle positioning method and device and storage medium |
| CN111739339A (en) * | 2020-07-18 | 2020-10-02 | 深圳市美舜科技有限公司 | Intelligent parking space detection system and parking space management method |
| CN112102645A (en) * | 2020-08-31 | 2020-12-18 | 南京创维信息技术研究院有限公司 | Indoor positioning vehicle-searching system and method based on Bluetooth AOA technology |
| CN112752218A (en) * | 2020-12-30 | 2021-05-04 | 展讯半导体(成都)有限公司 | Vehicle addressing method, vehicle, terminal and storage medium |
| CN113345264A (en) * | 2021-06-11 | 2021-09-03 | 深圳市觅拓物联信息技术有限公司 | Parking space monitoring system and method for parking lot |
| EP3910603A1 (en) * | 2020-05-15 | 2021-11-17 | Scheidt & Bachmann GmbH | Parking system |
| CN114040322A (en) * | 2021-10-22 | 2022-02-11 | 云南腾云信息产业有限公司 | Space positioning method and device, computer equipment and storage medium |
| CN114071700A (en) * | 2020-07-31 | 2022-02-18 | 瑞维安知识产权控股有限责任公司 | Vehicle positioning system |
| WO2022068151A1 (en) * | 2020-09-29 | 2022-04-07 | Oppo广东移动通信有限公司 | Information transmission method and apparatus, device, and storage medium |
| CN115131982A (en) * | 2021-03-29 | 2022-09-30 | 博泰车联网科技(上海)股份有限公司 | Parking management system, method, terminal and computer readable storage medium |
| CN115240283A (en) * | 2022-06-23 | 2022-10-25 | 新云际(深圳)科技有限公司 | Non-inductive side parking detection system and method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104392628A (en) * | 2014-10-31 | 2015-03-04 | 苏州翊高科技有限公司 | Parking lot vehicle searching method and system thereof |
| CN105427608A (en) * | 2015-12-28 | 2016-03-23 | 江苏本能科技有限公司 | Automobile parking management system and method |
| CN107505594A (en) * | 2017-09-21 | 2017-12-22 | 深圳市昇润科技有限公司 | Bluetooth alignment system, bluetooth localization method and Bluetooth antenna array therein |
| EP3261060A1 (en) * | 2016-06-24 | 2017-12-27 | Skidata Ag | Method for controlling access in an access control system for persons or vehicles comprising at least one access control device |
| CN107945570A (en) * | 2017-12-18 | 2018-04-20 | 浙江工业大学 | A kind of geomagnetic parking stall inspection optimization method |
| CN108174363A (en) * | 2017-12-29 | 2018-06-15 | 威马智慧出行科技（上海）有限公司 | Car searching method and device |
| CN108226862A (en) * | 2016-12-15 | 2018-06-29 | 电信科学技术研究院 | A kind of portable equipment, beacon and navigation system |
| CN108648493A (en) * | 2018-05-09 | 2018-10-12 | 中交航局安装工程有限公司 | A kind of reverse vehicle-searching system for parking lots and its application |
| CN108898881A (en) * | 2018-07-19 | 2018-11-27 | 影动（北京）科技有限公司 | The parking method and geomagnetism detecting equipment monitored based on Bluetooth broadcast and earth magnetism |
| CN208580508U (en) * | 2018-07-19 | 2019-03-05 | 影动（北京）科技有限公司 | The parking apparatus monitored based on Bluetooth broadcast and earth magnetism |
| CN109618290A (en) * | 2017-09-07 | 2019-04-12 | 建汉科技股份有限公司 | Freedom positioning system |
| CN109841081A (en) * | 2017-11-29 | 2019-06-04 | 深圳市微能信息科技有限公司 | A kind of vehicle positioning method and handheld terminal based on Bluetooth technology |
-
2019
- 2019-09-03 CN CN201910828587.8A patent/CN110706505A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104392628A (en) * | 2014-10-31 | 2015-03-04 | 苏州翊高科技有限公司 | Parking lot vehicle searching method and system thereof |
| CN105427608A (en) * | 2015-12-28 | 2016-03-23 | 江苏本能科技有限公司 | Automobile parking management system and method |
| EP3261060A1 (en) * | 2016-06-24 | 2017-12-27 | Skidata Ag | Method for controlling access in an access control system for persons or vehicles comprising at least one access control device |
| CN108226862A (en) * | 2016-12-15 | 2018-06-29 | 电信科学技术研究院 | A kind of portable equipment, beacon and navigation system |
| CN109618290A (en) * | 2017-09-07 | 2019-04-12 | 建汉科技股份有限公司 | Freedom positioning system |
| CN107505594A (en) * | 2017-09-21 | 2017-12-22 | 深圳市昇润科技有限公司 | Bluetooth alignment system, bluetooth localization method and Bluetooth antenna array therein |
| CN109841081A (en) * | 2017-11-29 | 2019-06-04 | 深圳市微能信息科技有限公司 | A kind of vehicle positioning method and handheld terminal based on Bluetooth technology |
| CN107945570A (en) * | 2017-12-18 | 2018-04-20 | 浙江工业大学 | A kind of geomagnetic parking stall inspection optimization method |
| CN108174363A (en) * | 2017-12-29 | 2018-06-15 | 威马智慧出行科技（上海）有限公司 | Car searching method and device |
| CN108648493A (en) * | 2018-05-09 | 2018-10-12 | 中交航局安装工程有限公司 | A kind of reverse vehicle-searching system for parking lots and its application |
| CN108898881A (en) * | 2018-07-19 | 2018-11-27 | 影动（北京）科技有限公司 | The parking method and geomagnetism detecting equipment monitored based on Bluetooth broadcast and earth magnetism |
| CN208580508U (en) * | 2018-07-19 | 2019-03-05 | 影动（北京）科技有限公司 | The parking apparatus monitored based on Bluetooth broadcast and earth magnetism |
Non-Patent Citations (1)
| Title |
|---|
| SAULI LEHTIMÄKI: "蓝牙角度估算应用于实时定位", 《URL：HTTPS://WWW.SILABS.COM/COMMUNITY/CHINESE-BLOG.ENTRY.HTML/2019/07/11/_-7JYR》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654819A (en) * | 2020-03-31 | 2020-09-11 | 北京小米移动软件有限公司 | Garage vehicle positioning method and device and storage medium |
| EP3910603A1 (en) * | 2020-05-15 | 2021-11-17 | Scheidt & Bachmann GmbH | Parking system |
| CN111739339A (en) * | 2020-07-18 | 2020-10-02 | 深圳市美舜科技有限公司 | Intelligent parking space detection system and parking space management method |
| CN114071700A (en) * | 2020-07-31 | 2022-02-18 | 瑞维安知识产权控股有限责任公司 | Vehicle positioning system |
| CN112102645A (en) * | 2020-08-31 | 2020-12-18 | 南京创维信息技术研究院有限公司 | Indoor positioning vehicle-searching system and method based on Bluetooth AOA technology |
| WO2022068151A1 (en) * | 2020-09-29 | 2022-04-07 | Oppo广东移动通信有限公司 | Information transmission method and apparatus, device, and storage medium |
| CN112752218A (en) * | 2020-12-30 | 2021-05-04 | 展讯半导体(成都)有限公司 | Vehicle addressing method, vehicle, terminal and storage medium |
| CN115131982A (en) * | 2021-03-29 | 2022-09-30 | 博泰车联网科技(上海)股份有限公司 | Parking management system, method, terminal and computer readable storage medium |
| CN113345264A (en) * | 2021-06-11 | 2021-09-03 | 深圳市觅拓物联信息技术有限公司 | Parking space monitoring system and method for parking lot |
| CN114040322A (en) * | 2021-10-22 | 2022-02-11 | 云南腾云信息产业有限公司 | Space positioning method and device, computer equipment and storage medium |
| CN115240283A (en) * | 2022-06-23 | 2022-10-25 | 新云际(深圳)科技有限公司 | Non-inductive side parking detection system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110706505A (en) | Underground garage car searching system based on Bluetooth 5.1 starting angle | |
| CN105047003B (en) | A kind of reverse car seeking and the positive method and system for finding parking stall | |
| Abrudan et al. | Distortion rejecting magneto-inductive three-dimensional localization (MagLoc) | |
| EP1994785B1 (en) | System and methods for direction finding using a handheld device | |
| CN102156283B (en) | Real time location system and method for making a location information based on finger printing | |
| US10209074B2 (en) | Magnetic beacon self-localization using mobile device magnetometers | |
| CN103644905B (en) | Indoor orientation method that a kind of situation is relevant and system | |
| CN107437044B (en) | Mine moving target tracking and positioning method | |
| CN102043151B (en) | Mobile terminal and method for positioning based on radio frequency identification | |
| CN106353718A (en) | Method for indoor positioning system | |
| JP6087693B2 (en) | Terminal, method, and program for detecting specific position based on radio wave reception intensity for each channel | |
| WO2009066132A1 (en) | User-executable antenna array calibration | |
| CN106682970B (en) | Method, client and system for opening shared traffic tool | |
| CN102404843A (en) | Positioning method and wireless communication system | |
| NZ248206A (en) | Vehicle transponder location and tracking using phased array antenna | |
| CN102398566A (en) | Wireless key system and key position judging method | |
| CN104735781B (en) | A kind of indoor locating system and its localization method | |
| CN105909085B (en) | A kind of logistics lock and logistics lock monitoring method based on Internet of Things information system management | |
| CN109342996B (en) | Mobile phone accurate positioning searching device and method based on RFID global orthogonal rotation antenna | |
| CN109819394A (en) | Based on the WiFi indoor orientation method mixed with ultrasonic wave and its system | |
| CN104066172A (en) | Method for positioning AP in wireless local area network | |
| CN112947580A (en) | Fusion processing method, device, system, equipment and medium for unmanned aerial vehicle positioning | |
| JP2011004429A (en) | Method for interpretation of radio-electrical command | |
| CN110177337A (en) | Indoor orientation method and indoor positioning shopping cart system | |
| CN111882681A (en) | Vehicle information identification method based on parking behavior and parking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200117 |