CN111107627A - Multi-mode fusion wireless positioning system and positioning method thereof - Google Patents
Multi-mode fusion wireless positioning system and positioning method thereof Download PDFInfo
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- CN111107627A CN111107627A CN201911399785.3A CN201911399785A CN111107627A CN 111107627 A CN111107627 A CN 111107627A CN 201911399785 A CN201911399785 A CN 201911399785A CN 111107627 A CN111107627 A CN 111107627A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
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Abstract
The invention discloses a multimode converged wireless positioning system and a positioning method thereof. The positioning method comprises a server positioning information processing flow, a terminal positioning mode selection flow and a terminal positioning frequency mode automatic adjustment flow, wherein the server positioning information processing flow, the terminal positioning mode selection flow and the terminal positioning frequency mode automatic adjustment flow are carried out simultaneously. The invention integrates the advantages of 2.4GHz frequency band and UWB technology, makes up the respective defects, realizes a positioning system with high positioning precision, low power consumption of a positioning terminal, convenient UWB networking and high system reliability, and greatly widens the application scene of the positioning system.
Description
Technical Field
The invention relates to a multimode converged wireless positioning system and a positioning method thereof.
Background
The indoor positioning technology has extremely wide application fields, and has important application in the fields of finance, prisons, detention houses, nursing homes, mines, hospitals, logistics and the like. The current indoor positioning technology mainly comprises a UWB technology, a CSS technology, a radio frequency identification technology, a Bluetooth technology, a Wi-Fi technology, a ZigBee technology and the like. The UWB technology, namely the ultra wide band technology, has good anti-interference performance and strong anti-multipath capability, and high positioning accuracy which can reach the accuracy of 0.1 meter, but the UWB technology has weak penetrability and is easily influenced by a human body or a shelter. The CSS technology is a linear frequency modulation spread spectrum technology, the positioning precision of the CSS technology is within 1 meter, the cost is lower than that of the UWB technology, and the anti-multipath capability of the CSS technology is poor. The radio frequency identification technology is used for positioning, the realization cost is low, but the communication distance is short, and is generally less than ten meters. Wi-Fi technology fixes a position, and equipment is easily installed, and is with low costs, but its signal easily receives the interference, and the cover radius is only within 90 meters, and positioning accuracy is also relatively poor, is about 20 meters. The ZigBee technology is a short-distance and low-speed wireless network technology, realizes positioning by mutual coordination communication among sensors in a network, has low power consumption and low cost of a single sensor, but depends on network positioning, needs large-scale network nodes, and has high overall cost and low positioning precision.
Disclosure of Invention
The invention aims to overcome the defects of the existing product and provides a multimode fusion wireless positioning system and a positioning method thereof.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the multimode converged wireless positioning system comprises a plurality of wireless positioning base stations, a wireless positioning terminal and a server software positioning platform, wherein the wireless positioning terminal is communicated with the wireless positioning base stations, and the wireless positioning base stations are communicated with the server software positioning platform.
Preferably, the wireless positioning base station comprises a first 2.4GHz wireless positioning module and a first UWB module.
Preferably, the wireless location terminal comprises a second 2.4G wireless location module and a second UWB module.
Preferably, the first 2.4GHz wireless positioning module and the second 2.4G wireless positioning module may be implemented by using a private protocol, or may be implemented by using Bluetooth Low Energy (BLE).
Preferably, the first UWB module is used for high-precision positioning, and both the first 2.4GHz wireless positioning module and the first UWB module are used for area positioning.
The positioning method of the multimode fusion wireless positioning system comprises a server positioning information processing flow, a terminal positioning mode selection flow and a terminal positioning frequency mode automatic adjustment flow, wherein the server positioning information processing flow, the terminal positioning mode selection flow and the terminal positioning frequency mode automatic adjustment flow are carried out simultaneously.
The server positioning information processing flow comprises the following steps:
step a 1: starting;
step a 2: the wireless positioning base station starts positioning, and then sends positioning information to the server software positioning platform;
step a 3: the server software positioning platform judges whether the received positioning information is 2.4GHz positioning information or UWB positioning information, if the received positioning information is 2.4GHz positioning information, the step a4 is skipped, otherwise the step a5 is skipped;
step a 4: the server software positioning platform analyzes the RSSI value, and the server software positioning platform analyzes the fingerprint characteristics by combining a geographic information model;
step a 5: and the server software positioning platform judges whether the UWB positioning information is a high-precision positioning area, if the server software positioning platform judges that the UWB positioning information is not the high-precision positioning area, the server software positioning platform performs area positioning processing, and otherwise, the server software positioning platform performs positioning judgment processing.
The positioning judgment processing is that whether the number of the effective wireless positioning base stations is larger than 3 is judged by the server software positioning platform, if the number of the effective wireless positioning base stations is smaller than 3, the regional positioning processing is carried out, otherwise, the high-precision positioning processing is carried out, the high-precision positioning processing is that the wireless positioning base stations carry out high-precision positioning through a first UWB module, then the wireless positioning base stations send positioning results to the server software positioning platform, the regional positioning processing is that the wireless positioning base stations carry out regional positioning through a first 2.4GHz wireless positioning module or a first UWB module, and the wireless positioning base stations send the positioning results to the server software positioning platform. High-precision positioning is an area for high-precision positioning when needed
The terminal positioning mode selection process comprises the following steps:
step b 1: the wireless positioning terminal sends a UWB positioning request packet to the base station, and the wireless positioning terminal sets a maximum UWB positioning failure value X;
step b 2: the wireless positioning terminal judges whether a reply signal of the UWB positioning request packet is received, if the reply signal of the UWB positioning request packet is received, the step b3 is skipped, otherwise, the step b4 is skipped;
step b 3: the wireless positioning terminal judges whether the second 2.4G wireless positioning module starts broadcasting, if the second 2.4GHz positioning module is not started, the step b1 is skipped, otherwise, the second 2.4G wireless positioning module stops broadcasting, and the step b1 is skipped at the same time;
step b 4: and the wireless positioning terminal judges whether the second 2.4G wireless positioning module starts broadcasting or not, if the second 2.4G wireless positioning module starts broadcasting, the step b1 is skipped to, otherwise, the wireless positioning terminal starts UWB positioning failure counting to obtain a UWB positioning failure value, if the UWB positioning failure value is more than T, the second 2.4G wireless positioning module starts broadcasting, and otherwise, the step b1 is skipped to.
The automatic adjusting process of the terminal positioning frequency mode comprises the following steps:
step c 1: the wireless positioning terminal judges the state of the wireless positioning terminal, and the wireless positioning terminal sets the maximum static time N;
step c 2: if the wireless positioning terminal judges that the self state is the motion state, the wireless positioning terminal performs positioning at the normal positioning frequency, otherwise, the wireless positioning terminal judges whether the static time is more than N, if the static time is more than N, the wireless positioning terminal performs positioning judgment in a low-frequency positioning mode, otherwise, the wireless positioning terminal jumps to the step c 1.
The invention has the following beneficial effects: the invention solves the self limitations of UWB positioning and 2.4GHz frequency band wireless positioning, integrates the advantages of 2.4GHz frequency band and UWB technology, makes up the respective defects, realizes a positioning system with high positioning precision, low power consumption of a positioning terminal, convenient UWB networking and high system reliability, and greatly widens the application scene of the positioning system.
Drawings
FIG. 1 is a block diagram of a multimode converged wireless location system according to the present invention;
FIG. 2 is a flow chart of server location information processing;
fig. 3 is a flow chart of terminal location mode selection;
fig. 4 is a flow chart of automatic adjustment of the terminal positioning frequency mode.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings of the specification:
as shown in fig. 1, the multi-mode converged wireless positioning system includes a plurality of wireless positioning base stations 1, a wireless positioning terminal 2, and a server software positioning platform 3, wherein the wireless positioning terminal 2 communicates with the plurality of wireless positioning base stations 1, the plurality of wireless positioning base stations 1 communicate with the server software positioning platform 3, and the wireless positioning base stations 1 include a first 2.4GHz wireless positioning module 11 and a first UWB module 12. The wireless location terminal 2 includes a second 2.4G wireless location module 21 and a second UWB module 22. The first 2.4GHz wireless positioning module 11 and the second 2.4G wireless positioning module 21 can be implemented by using low-power consumption bluetooth BLE, and can also be implemented by using a proprietary protocol. The first UWB module 12 is used for high-precision positioning, and the first 2.4GHz wireless positioning module 11 and the first UWB module 12 are both used for area positioning.
The positioning method of the multimode fusion wireless positioning system comprises a server positioning information processing flow, a terminal positioning mode selection flow and a terminal positioning frequency mode automatic adjustment flow, wherein the server positioning information processing flow, the terminal positioning mode selection flow and the terminal positioning frequency mode automatic adjustment flow are carried out simultaneously.
As shown in fig. 2, the server positioning information processing flow includes the following steps:
step a 1: starting;
step a 2: the wireless positioning base station 1 starts positioning, and then the wireless positioning base station 1 sends positioning information to the server software positioning platform 3;
step a 3: the server software positioning platform 3 judges whether the received positioning information is 2.4GHz positioning information or UWB positioning information, if the received positioning information is 2.4GHz positioning information, the step a4 is skipped, otherwise, the step a5 is skipped;
step a 4: the server software positioning platform 3 analyzes the RSSI value, and the server software positioning platform 3 analyzes the fingerprint characteristics by combining a geographic information model;
step a 5: and the server software positioning platform 3 judges whether the UWB positioning information is a high-precision positioning area, if the server software positioning platform 3 judges that the UWB positioning information is not the high-precision positioning area, the area positioning processing is carried out, and otherwise, the positioning judgment processing is carried out. The positioning judgment processing is that whether the number of the effective wireless positioning base stations 1 is larger than 3 is judged by the server software positioning platform 3, if the number of the effective wireless positioning base stations 1 is smaller than 3, the regional positioning processing is carried out, otherwise, the high-precision positioning processing is that the wireless positioning base stations 1 carry out high-precision positioning through the first UWB module 12, then the wireless positioning base stations 1 send positioning results to the server software positioning platform 3, the regional positioning processing is that the wireless positioning base stations 1 carry out regional positioning through the first 2.4GHz wireless positioning module 11 or the first UWB module 12, and the wireless positioning base stations 1 send the positioning results to the server software positioning platform 3.
As shown in fig. 3, the terminal positioning mode selection process includes the following steps:
step b 1: the wireless positioning terminal 2 sends a UWB positioning request packet to the base station, and the wireless positioning terminal 2 sets a maximum UWB positioning failure value X;
step b 2: the wireless positioning terminal 2 judges whether a reply signal of the UWB positioning request packet is received, and if the reply signal of the UWB positioning request packet is received, it jumps to step b3, otherwise it jumps to step b 4;
step b 3: the wireless positioning terminal 2 determines whether the second 2.4G wireless positioning module 21 starts broadcasting, if not, jumps to step b1, otherwise, the second 2.4G wireless positioning module 21 stops broadcasting, and jumps to step b 1;
step b 4: the wireless positioning terminal 2 determines whether the second 2.4G wireless positioning module 21 starts broadcasting, if so, the step b1 is skipped, otherwise, the wireless positioning terminal 2 starts UWB positioning failure counting to obtain a UWB positioning failure value, if the UWB positioning failure value is greater than T, the second 2.4G wireless positioning module 21 starts broadcasting, otherwise, the step b1 is skipped.
As shown in fig. 4, the automatic adjusting process of the terminal positioning frequency mode includes the following steps:
step c 1: the wireless positioning terminal 2 judges the state of the wireless positioning terminal 2, and the wireless positioning terminal 2 sets the maximum static time N;
step c 2: if the wireless positioning terminal 2 determines that its own state is a motion state, the wireless positioning terminal 2 performs positioning at a normal positioning frequency, otherwise, the wireless positioning terminal 2 determines whether the static time is greater than N, if the static time is greater than N, the wireless positioning terminal 2 performs positioning in a low frequency positioning mode, otherwise, the step c1 is skipped.
The wireless positioning base station comprises a first 2.4GHz wireless positioning module 11 and a first UWB module 12. The high-precision positioning adopts the first UWB module 12 for positioning; the regional positioning adopts the first 2.4GHz wireless positioning module 11 or the first UWB module 12 to carry out positioning. In the implementation of the system, the first 2.4GHz wireless positioning module 11 can be implemented by low-power consumption Bluetooth BLE and also can be implemented by a private protocol, the first UWB module can be used for performing high-precision positioning and also can be used for performing regional positioning, and when UWB signals are shielded, the first 2.4GHz wireless positioning module can be used for performing regional positioning;
the wireless location terminal includes a second 2.4G wireless location module 21 and a second UWB module 22. The second 2.4GHz wireless positioning module 11 can be implemented by low power consumption bluetooth BLE, and can also be implemented by a private protocol, the positioning terminal broadcasts wireless signals periodically or dynamically at the 2.4G module, after receiving the signals, the wireless positioning base station performs filtering processing on the received RSSI value of the terminal, and then sends the corresponding base station ID, terminal ID and RSSI value to the server software positioning platform for terminal positioning processing. And in the UWB positioning mode, one-dimensional, two-dimensional or three-dimensional positioning is carried out according to the number of UWB base stations in the area. The specific position of the terminal is obtained by calculation on a server software positioning platform; the wireless positioning terminal can be internally provided with a passive RFID and used for positioning or access control and other applications.
The server software positioning platform comprises an indoor area map, positioning personnel information, wireless terminal information and a position processing engine. Dividing the map into a plurality of areas, and establishing a mapping relation with the base station; in a 2.4G positioning mode, a positioning engine judges the area position of a terminal according to the RSSI of the terminal; under the UWB positioning mode, the area positioning or the accurate positioning can be carried out according to the requirement of the area positioning accuracy; in a high-precision positioning area, under the condition that more than three UWB base stations receive signals, a high-precision positioning mode can be carried out, the coordinates of the terminal can be obtained through direct positioning, the distance between the terminal and the base stations can be obtained through only one or two UWB base stations, and the area positioning is realized through degradation.
The invention solves the self limitations of UWB positioning and 2.4GHz frequency band wireless positioning, integrates the advantages of 2.4GHz frequency band and UWB technology, makes up the respective defects, realizes a positioning system with high positioning precision, low power consumption of a positioning terminal, convenient UWB networking and high system reliability, and greatly widens the application scene of the positioning system.
It should be noted that the above list is only one specific embodiment of the present invention. It is clear that the invention is not limited to the embodiments described above, but that many variations are possible, all of which can be derived or suggested directly from the disclosure of the invention by a person skilled in the art, and are considered to be within the scope of the invention.
Claims (10)
1. The multimode converged wireless positioning system is characterized by comprising a plurality of wireless positioning base stations (1), a wireless positioning terminal (2) and a server software positioning platform (3), wherein the wireless positioning terminal (2) is communicated with the wireless positioning base stations (1), and the wireless positioning base stations (1) are communicated with the server software positioning platform (3).
2. The multimode converged wireless positioning system according to claim 1, wherein the wireless positioning base station (1) comprises a first 2.4GHz wireless positioning module (11), a first UWB module (12).
3. The multimode converged wireless positioning system of claim 2, wherein the wireless positioning terminal (2) comprises a second 2.4G wireless positioning module (21) and a second UWB module (22).
4. The multimode converged wireless positioning system according to claim 3, wherein the first 2.4GHz wireless positioning module (11) and the second 2.4G wireless positioning module (21) are implemented by using a proprietary protocol or Bluetooth Low Energy (BLE).
5. The multimode converged wireless positioning system according to claim 2, wherein the first UWB module (12) is used for high precision positioning, and the first 2.4GHz wireless positioning module (11) and the first UWB module (12) are both used for area positioning.
6. The positioning method of the multi-mode converged wireless positioning system according to claim 1, comprising a server positioning information processing procedure, a terminal positioning mode selection procedure, and a terminal positioning frequency mode automatic adjustment procedure, wherein the server positioning information processing procedure, the terminal positioning mode selection procedure, and the terminal positioning frequency mode automatic adjustment procedure are performed simultaneously.
7. The method as claimed in claim 6, wherein the server positioning information processing procedure comprises the following steps:
step a 1: starting;
step a 2: the wireless positioning base station (1) starts positioning, and then the wireless positioning base station (1) sends positioning information to the server software positioning platform (3);
step a 3: the server software positioning platform (3) judges whether the received positioning information is 2.4G positioning information or UWB positioning information, if the received positioning information is 2.4G positioning information, the step a4 is skipped, otherwise the step a5 is skipped;
step a 4: the RSSI value is analyzed by the server software positioning platform (3), and the fingerprint characteristics are analyzed by the server software positioning platform (3) in combination with the geographic information model;
step a 5: and the server software positioning platform (3) judges whether the UWB positioning information is a high-precision positioning area, if the server software positioning platform (3) judges that the UWB positioning information is not the high-precision positioning area, the server software positioning platform performs area positioning processing, and otherwise, the server software positioning platform performs positioning judgment processing.
8. The method of claim 7, the positioning judgment processing is that the server software positioning platform (3) judges whether the number of the effective wireless positioning base stations (1) is more than 3, if the number of the effective wireless positioning base stations (1) is less than 3, performing regional positioning processing, otherwise performing high-precision positioning processing, wherein the high-precision positioning processing is that the wireless positioning base station (1) performs high-precision positioning through the first UWB module (12), then the wireless positioning base station (1) sends the positioning result to the server software positioning platform (3), the area positioning processing is that the wireless positioning base station (1) carries out area positioning processing through a first 2.4GHz wireless positioning module (11) or a first UWB module (12), and the wireless positioning base station (1) sends a positioning result to the server software positioning platform (3).
9. The method as claimed in claim 6, wherein the terminal positioning mode selection procedure comprises the following steps:
step b 1: the wireless positioning terminal (2) sends a UWB positioning request packet to the base station, and the wireless positioning terminal (2) sets a maximum UWB positioning failure value X;
step b 2: the wireless positioning terminal (2) judges whether a reply signal of a UWB positioning request packet is received, if the reply signal of the UWB positioning request packet is received, the step b3 is skipped, otherwise, the step b4 is skipped;
step b 3: the wireless positioning terminal (2) judges whether the second 2.4G wireless positioning module (21) starts broadcasting, if the second 2.4G wireless positioning module (21) is not started, the step b1 is skipped, otherwise, the second 2.4G wireless positioning module (21) stops broadcasting, and the step b1 is skipped at the same time;
step b 4: the wireless positioning terminal (2) judges whether the second 2.4G wireless positioning module (21) starts broadcasting, if the second 2.4G wireless positioning module starts broadcasting, the step b1 is skipped to, otherwise, the wireless positioning terminal (2) starts UWB positioning failure counting to obtain a UWB positioning failure value, if the UWB positioning failure value is more than T, the second 2.4G wireless positioning module (21) starts broadcasting, and if the UWB positioning failure value is not more than T, the step b1 is skipped to.
10. The positioning method of the multi-mode converged wireless positioning system according to claim 6, wherein the terminal positioning frequency mode automatic adjustment process comprises the following steps:
step c 1: the wireless positioning terminal (2) judges the state of the wireless positioning terminal, and the wireless positioning terminal (2) sets the maximum static time N;
step c 2: if the wireless positioning terminal (2) judges that the self state is the motion state, the wireless positioning terminal (2) performs positioning at a normal positioning frequency, otherwise, the wireless positioning terminal (2) judges whether the static time is greater than N, if the static time is greater than N, the wireless positioning terminal (2) performs positioning judgment in a low-frequency positioning mode, otherwise, the step c1 is skipped.
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