CN111432333A - Indoor positioning method and device - Google Patents
Indoor positioning method and device Download PDFInfo
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- CN111432333A CN111432333A CN202010242811.8A CN202010242811A CN111432333A CN 111432333 A CN111432333 A CN 111432333A CN 202010242811 A CN202010242811 A CN 202010242811A CN 111432333 A CN111432333 A CN 111432333A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
The invention provides an indoor positioning method and device, which are used for solving the problem that indoor positioning cannot be effectively carried out by adopting a satellite positioning mode in the prior art. The method comprises the following steps: determining positioning equipment which is positioned indoors and can monitor an indoor object to be positioned; positioning the target to be positioned according to the position information of the positioning equipment; the position information of the positioning equipment is determined according to the position information of the positioning base station positioned indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to an indoor positioning method and device.
Background
At present, the position of the ground equipment is usually determined by a satellite positioning method, i.e. a technology of performing point location measurement by using an artificial earth satellite, but the satellite positioning method requires that the ground equipment receives enough satellite signals. When the ground equipment is positioned indoors, the satellite signal enters the indoor space and is shielded and weakened, and indoor positioning cannot be effectively carried out.
Disclosure of Invention
The invention provides an indoor positioning method and device, which are used for solving the problem that indoor positioning cannot be effectively carried out by adopting a satellite positioning mode in the prior art.
In a first aspect, an embodiment of the present invention provides an indoor positioning method, including:
determining positioning equipment which is positioned indoors and can monitor an object to be positioned indoors;
positioning the target to be positioned according to the position information of the positioning equipment;
wherein the position information of the positioning device is determined according to the position information of the positioning base station located indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
In an optional implementation manner, the positioning device is a monitoring device provided with a positioning tag;
determining location information of the positioning device by:
acquiring a positioning signal sent by a positioning tag of the monitoring equipment through at least three positioning base stations in the indoor positioning base stations; wherein the monitoring device is located within the reception range of the positioning signals of the at least three positioning base stations;
and determining the position information of the monitoring equipment based on the difference between the times corresponding to the at least three positioning base stations for receiving the positioning signals.
In an optional implementation manner, the positioning the target to be positioned according to the location information of the positioning device includes:
determining position range information of a monitoring area of the monitoring equipment according to the position information of the monitoring equipment capable of monitoring the target to be positioned;
and positioning the target to be positioned according to the determined position range information.
In an optional implementation manner, the positioning device includes a plurality of positioning base stations located in the room, and a positioning tag is disposed on the target to be positioned;
the positioning device which is located indoors and can monitor the target to be positioned in the indoor is determined, and the positioning device comprises:
determining at least three positioning base stations which can receive positioning signals sent by the positioning labels of the targets to be positioned from a plurality of positioning base stations positioned indoors;
the positioning the target to be positioned according to the position information of the positioning device includes:
acquiring the time length of a positioning signal sent by the positioning label of the target to be positioned reaching the at least three positioning base stations;
and determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
In an optional implementation manner, after the target to be positioned is located, the method further includes:
collecting characteristic information of the target to be positioned;
and sending an abnormal signal when the collected characteristic information is determined to be not matched with the characteristic information pre-bound by the positioning tag of the target to be positioned.
In an optional implementation manner, the positioning signal sent by the outdoor device further includes time service time determined based on the satellite positioning manner, and the time service time is used for calibrating the indoor time.
In a second aspect, an embodiment of the present invention provides an indoor positioning device, including:
the device comprises a determining module, a positioning module and a positioning module, wherein the determining module is used for determining indoor positioning equipment which can monitor an indoor target to be positioned;
the positioning module is used for positioning the target to be positioned according to the position information of the positioning equipment;
wherein the position information of the positioning device is determined according to the position information of the positioning base station located indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
In an optional implementation manner, the positioning device is a monitoring device provided with a positioning tag; the determining module is further configured to:
acquiring a positioning signal sent by a positioning tag of the monitoring equipment through at least three positioning base stations in the indoor positioning base stations; wherein the monitoring device is located within the reception range of the positioning signals of the at least three positioning base stations;
and determining the position information of the monitoring equipment based on the difference between the times corresponding to the at least three positioning base stations for receiving the positioning signals.
In an optional implementation manner, the positioning module is specifically configured to:
determining position range information of a monitoring area of the monitoring equipment according to the position information of the monitoring equipment capable of monitoring the target to be positioned;
and positioning the target to be positioned according to the determined position range information.
In an optional implementation manner, the positioning device includes a plurality of positioning base stations located in the room, and a positioning tag is disposed on the target to be positioned;
the determining module is specifically configured to:
determining at least three positioning base stations which can receive positioning signals sent by the positioning labels of the targets to be positioned from a plurality of positioning base stations positioned indoors;
the positioning module is specifically configured to:
acquiring the time length of a positioning signal sent by the positioning label of the target to be positioned reaching the at least three positioning base stations;
and determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
In an optional implementation manner, the apparatus further includes an acquisition module;
the acquisition module is used for acquiring the characteristic information of the target to be positioned;
the determining module is further configured to send an abnormal signal when it is determined that the acquired feature information is not matched with the feature information pre-bound to the positioning tag of the target to be positioned.
In an optional implementation manner, the positioning signal sent by the outdoor device further includes time service time determined based on the satellite positioning manner, and the time service time is used for calibrating the indoor time.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
a memory and a processor;
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the method of any implementation mode of the first aspect according to the obtained program.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the above method.
In the embodiment of the invention, a positioning base station is arranged indoors to receive a positioning signal sent by outdoor equipment in a positioning signal receiving range, wherein the positioning signal comprises position information determined by the positioning equipment based on a satellite positioning mode, namely in a coordinate system corresponding to satellite positioning; according to the position information of the outdoor equipment, the position information of the positioning base station under the coordinate system corresponding to the satellite positioning is determined, the position information of the positioning base station arranged indoors is determined according to the mode, then the position information of the positioning equipment used for indoor positioning under the coordinate system corresponding to the satellite positioning is determined according to the position information of the positioning base station, and further the target to be positioned is positioned according to the position information of the related positioning equipment, namely the position information of the target to be positioned under the coordinate system corresponding to the satellite positioning is determined. The indoor positioning base station is combined with the satellite positioning mode, so that the influence of indoor satellite signal difference on indoor target positioning is avoided, the indoor positioning effect can be improved, and the indoor positioning accuracy is improved.
Drawings
Fig. 1 is a schematic flowchart of a first indoor positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a first device interaction provided in the embodiment of the present invention;
fig. 3 is a schematic flowchart of a second indoor positioning method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a second device interaction provided in the embodiment of the present invention;
fig. 5 is a schematic flowchart of a third indoor positioning method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a third apparatus interaction provided in the embodiment of the present invention;
FIG. 7 is a diagram illustrating a fourth exemplary interaction between devices according to an embodiment of the present invention;
fig. 8 is a block diagram of an indoor positioning apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The plurality of the present invention means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. In addition, it should be understood that although the terms first, second, etc. may be used to describe various data in embodiments of the present invention, these data should not be limited by these terms. These terms are only used to distinguish the data from each other.
The current common positioning technology is mainly a satellite positioning mode, that is, a technology of performing point location measurement by using an artificial earth satellite is used to determine the position of the ground equipment, but the satellite positioning mode requires that the ground equipment receives enough satellite signals. When the ground equipment is located outdoors, the positioning can be accurately and quickly carried out based on a satellite positioning mode; when the ground equipment is located indoors, the satellite signal enters the indoor space and is shielded and weakened, the positioning effect is affected, and the indoor positioning cannot be effectively carried out in a satellite positioning mode.
The existing indoor positioning is generally realized by adopting an Ultra Wide Band (UWB) positioning mode, UWB tags are configured for objects such as people, objects and equipment which need to be positioned, the position information of the UWB tags is detected, and then the position information of the objects is obtained based on the corresponding relation between the UWB tags and the objects. However, such a method is only suitable for the internal positioning of a certain indoor area, that is, the indoor positioning references (coordinate systems) are independent of each other and have no uniformity, and once an emergency occurs and personnel such as an external police party and a fire fighting party need to intervene for assistance, the indoor positioning references are not uniform, and external personnel are not familiar with the indoor internal environment, thereby affecting the assistance efficiency.
Based on this, the embodiment of the invention provides an indoor positioning method and device, which are used for solving the problem that indoor positioning cannot be effectively performed by adopting a satellite positioning mode in the prior art. The method and the device are based on the same inventive concept, and because the principles of solving the problems of the method and the device are similar, the implementation of the device and the method can be mutually referred, and repeated parts are not repeated.
For the sake of understanding, the indoor positioning method disclosed in the embodiment of the present invention will be described in detail first.
Referring to fig. 1, a first indoor positioning method provided in an embodiment of the present invention is applicable to a server that can establish communication with the following positioning base stations, and the method includes:
step S101, determining indoor positioning equipment capable of monitoring an indoor object to be positioned.
Wherein, one or more positioning devices for positioning the target are arranged in the room.
And S102, positioning the target to be positioned according to the position information of the positioning equipment.
Specifically, the target to be located may be located according to the determined position information of part or all of the positioning devices that can monitor the target to be located.
The position information of the positioning equipment is determined according to the position information of the positioning base station positioned indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
In the embodiment of the invention, a positioning base station is arranged indoors to receive a positioning signal sent by outdoor equipment in a positioning signal receiving range, wherein the positioning signal comprises position information determined by the positioning equipment based on a satellite positioning mode, namely in a coordinate system corresponding to satellite positioning; according to the position information of the outdoor equipment, the position information of the positioning base station under the coordinate system corresponding to the satellite positioning is determined, the position information of the positioning base station arranged indoors is determined according to the mode, then the position information of the positioning equipment used for indoor positioning under the coordinate system corresponding to the satellite positioning is determined according to the position information of the positioning base station, and further the target to be positioned is positioned according to the position information of the related positioning equipment, namely the position information of the target to be positioned under the coordinate system corresponding to the satellite positioning is determined. The indoor positioning base station is combined with the satellite positioning mode, so that the influence of indoor satellite signal difference on indoor target positioning is avoided, the indoor positioning effect can be improved, and the indoor positioning accuracy is improved.
In an alternative embodiment, the outdoor device is provided with a positioning tag and a positioning module for using a satellite positioning mode, such as a GPS module. The position information of the positioning base station can be determined by the following method:
(1) the method comprises the steps that positioning signals sent by positioning labels of at least three pieces of outdoor equipment in a positioning signal receiving range of a positioning base station are obtained through the positioning base station, and the positioning signals carry position information of the outdoor equipment determined in a satellite positioning mode, such as longitude and latitude information of the position of the outdoor equipment.
(2) And determining the position information of the positioning base station based on the position information of the at least three outdoor devices.
Specifically, the TDOA, TOA, and other positioning algorithms may be used to calculate the time duration for the at least three outdoor devices to send the positioning signals to the positioning base station, and determine the position information of the positioning base station by backward extrapolation according to the known position information of the at least three outdoor devices.
For convenience of understanding, referring to fig. 2, an embodiment of the present invention provides a first device interaction schematic diagram, which illustrates an interaction flow among three outdoor devices, a positioning base station, and a server, taking determining location information of a positioning base station as an example, and specifically includes:
three outdoor units: the positioning modules are respectively communicated with the satellite based on the self-set positioning modules to determine the position information of the self under a coordinate system corresponding to the satellite positioning, and the positioning modules send positioning signals or data frames carrying the position information of the self to the positioning base station in real time through the self-set positioning tags.
Positioning a base station: determining the time when the positioning tags on the three outdoor devices send positioning signals or data frames to a positioning base station, and uploading the time information to a server; wherein, the positioning base station can measure the time of the data frame of each positioning label arriving at the antenna of the receiver by using a high-sensitivity short pulse detector; the positioning base station and the server can communicate based on a switch adopting a WIFI wireless network or an Ethernet, and the switch is also shown in the figure.
A server: according to the time information uploaded by the positioning base station, the time difference of the positioning label sending the positioning signal or the data frame arriving at the positioning base station is determined, and the position information of the positioning base station is calculated by using a TDOA algorithm.
Further, in an alternative embodiment, the positioning device may be a monitoring device provided with a positioning tag, and one or more monitoring devices are provided in the room. Based on this, referring to fig. 3, an embodiment of the present invention provides a second indoor positioning method, including:
step S301, determining indoor monitoring equipment capable of monitoring an indoor object to be positioned.
Step S302, determining position range information of a monitoring area of the monitoring equipment according to the position information of the monitoring equipment capable of monitoring the object to be positioned.
Step S303, positioning the target to be positioned according to the determined position range information, namely determining the position range information to which the position of the target to be positioned belongs.
In the embodiment of the invention, the monitoring equipment is used as the positioning equipment, and after the position information of the monitoring equipment is determined based on the position information of the positioning base station, the position range information of the monitoring area of the monitoring equipment in the coordinate system corresponding to the satellite positioning is further determined. Therefore, when the target to be positioned is positioned in the monitoring area of the monitoring equipment, the position range information of the target to be positioned can be determined, and the indoor positioning of the target to be positioned can be obtained. The method is suitable for some service scenes of indoor positioning in public places, such as navigation and charging of underground garages, finding of lost children in shopping malls, search and rescue of indoor personnel by firemen and the like.
In an alternative embodiment, the location information of each monitoring device of the aforementioned one or more monitoring devices may be implemented as follows:
a1, acquiring a positioning signal sent by a positioning label of a monitoring device through at least three positioning base stations in a plurality of indoor positioning base stations; the monitoring equipment is positioned in the receiving range of the positioning signals of at least three positioning base stations.
A2, determining the position information of the monitoring equipment based on the difference between the time corresponding to the positioning signals received by at least three positioning base stations.
In specific implementation, the time corresponding to the first positioning base station receiving the positioning signal can be determined according to the average time length of the positioning signal sent by the positioning tag of the monitoring device reaching the first positioning base station; the first positioning base station is any one of the at least three positioning base stations. And determining the position information of the monitoring equipment by adopting a TDOA algorithm based on the difference value of the time corresponding to the receiving of the positioning signals by at least three positioning base stations.
In addition, to facilitate understanding, corresponding to the second indoor positioning method, an embodiment of the present invention provides a second device interaction schematic diagram on the basis of fig. 2, and referring to fig. 4, further illustrates an interaction flow among the positioning base station, the monitoring device, and the server, which specifically includes:
the monitoring equipment: monitoring a target located within its monitoring area; and sending a positioning signal or a data frame in real time based on a self-set positioning label.
Positioning a base station: determining the time of receiving a positioning signal or a data frame sent by a positioning tag of the monitoring equipment, and uploading the time information related to the monitoring equipment to a server; wherein, the positioning base station can measure the time of the data frame of each positioning label arriving at the antenna of the receiver by using a high-sensitivity short pulse detector; the positioning base station and the server can communicate based on a switch adopting a WIFI wireless network or an Ethernet.
A server: determining the time difference of the positioning label for sending a positioning signal or data frame to the positioning base station according to the time information which is uploaded by at least three positioning base stations and is related to the monitoring equipment, and further calculating the position information of the monitoring equipment by using a TDOA algorithm; the monitoring device is located within the receiving range of the positioning signals of at least three positioning base stations, and the interaction between one positioning base station and the monitoring device is exemplarily illustrated in fig. 4.
A server: and determining the position range information of the monitoring area of the monitoring equipment according to the determined position information of the monitoring equipment, so that the target to be positioned is positioned by utilizing the monitoring of the monitoring equipment.
In specific implementation, the Video stream data monitored by the monitoring device may also be stored by a back-end device such as a Network Video Recorder (NVR). And user terminal equipment associated with the server can be further arranged, and indoor position information or moving track information of the target to be positioned, which is obtained by positioning the target to be positioned by monitoring of the monitoring equipment, is displayed to the user through the user terminal equipment.
Further, in an optional implementation manner, the positioning apparatus includes a plurality of positioning base stations located indoors, and a target to be positioned is provided with a positioning tag, based on which, referring to fig. 5, an embodiment of the present invention provides a third indoor positioning method, including:
step S501, at least three positioning base stations which can receive positioning signals sent by a positioning label of a target to be positioned are determined from a plurality of positioning base stations positioned indoors.
Step S502, the time length of the positioning signal sent by the positioning label of the target to be positioned reaching at least three positioning base stations is obtained.
Step S503, determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
In specific implementation, the time corresponding to the first positioning base station for receiving the positioning signal can be determined according to the average time length for the positioning signal sent by the positioning tag of the target to be positioned to reach the first positioning base station; the first positioning base station is any one of the at least three positioning base stations. And determining the position information of the target to be positioned based on the difference between the times corresponding to the at least three positioning base stations for receiving the positioning signals by adopting a TDOA algorithm.
In the embodiment of the invention, the positioning base stations are used as positioning equipment, and the position information of the target to be positioned provided with the positioning labels is determined based on the position information of at least three positioning base stations. The method can accurately determine the position of the target to be positioned under the coordinate system corresponding to the satellite positioning, and can be applied to indoor places for centralized management such as hospitals and schools.
In an optional embodiment, to avoid that the target where the location tag is actually located is not a target to which the location tag is bound in advance, for example, the location tag of a certain target user is used by other users, so that the location tag does not correspond to the user, and therefore an error occurs when the target user is located based on the location tag. After the target to be positioned is positioned, the method further comprises the following steps:
and B1, collecting the characteristic information of the target to be positioned.
Wherein the characteristic information is related to attributes according to the target to be positioned; if the target to be positioned is a person, the characteristic information can comprise sound characteristic information, posture characteristic information, facial characteristic information and the like, and the posture characteristic information comprises walking posture, height, fat and thin and other physical characteristics; if the target to be positioned is an object, the characteristic information may include characteristics such as shape and volume.
In specific implementation, the characteristic information of the target to be positioned can be acquired by arranging monitoring equipment indoors; when the method is applied to positioning of people, sound characteristic information of the people can be collected by arranging a radio device indoors.
B2, when the collected characteristic information is determined not to match with the characteristic information pre-bound by the positioning label of the object to be positioned, an abnormal signal is sent out.
In addition, for convenience of understanding, corresponding to the third indoor positioning method, an embodiment of the present invention provides a third device interaction schematic diagram on the basis of fig. 2, and referring to fig. 6, further illustrates an interaction flow among a positioning base station, a monitoring device, an object to be positioned, and a server, and specifically includes:
positioning a base station: determining the time of receiving a positioning signal or a data frame sent by a positioning label of the target to be positioned, and uploading the time information related to the target to be positioned to a server; wherein, the positioning base station can measure the time of the data frame of each positioning label arriving at the antenna of the receiver by using a high-sensitivity short pulse detector; the positioning base station and the server can communicate based on a switch adopting a WIFI wireless network or an Ethernet.
A server: determining the time difference of the positioning label for sending a positioning signal or the data frame to the positioning base station according to the time information which is uploaded by at least three positioning base stations and is related to the target to be positioned, and further calculating the position information of the target to be positioned by using a TDOA algorithm, for example; the target to be positioned is located within the receiving range of the positioning signals of at least three positioning base stations, and exemplarily, an interaction between one positioning base station and the target to be positioned is illustrated in fig. 6.
The monitoring equipment: and monitoring the targets in the monitoring area, and uploading the characteristic information of the acquired targets to a server.
A server: and judging whether the received characteristic information is matched with the characteristic information pre-bound with the positioning label of the target to be positioned.
In a specific implementation, the server may include a positioning engine for calculating the position information, and a server for identifying the feature information uploaded by the monitoring device; user terminal equipment associated with the server can be further arranged, and indoor position information or moving track information of the target to be positioned, which is obtained by positioning the target to be positioned by using the positioning base station, is displayed to a user through the user terminal equipment; and when the collected characteristic information is determined to be not matched with the characteristic information pre-bound by the positioning label of the target to be positioned, sending an abnormal signal through the user terminal.
Furthermore, when the positioning base station and the monitoring equipment are actually applied, the positioning base station and the monitoring equipment can be combined into an integrated device, so that the maintenance cost of the equipment is reduced. The integrated equipment is marked as positioning monitoring equipment and has the functions of the positioning base station and the monitoring equipment provided with the positioning tag. Positioning the target to be positioned according to the position information of the positioning monitoring equipment can be implemented by referring to the following modes:
when a positioning label is not arranged on the target to be positioned, positioning the target to be positioned according to the position information range of the monitoring area of the positioning monitoring equipment; alternatively, the first and second electrodes may be,
and when the positioning label is arranged on the target to be positioned, positioning the target to be positioned according to the position information range of the monitoring area of the positioning monitoring equipment and/or the position information of the positioning monitoring equipment.
The specific implementation process may be implemented with reference to the method embodiments described above, and is not described herein again. In addition, to facilitate understanding, a fourth device interaction schematic diagram is provided in the embodiment of the present invention, and referring to fig. 7, an interaction flow among three outdoor devices, a positioning monitoring device, a target to be positioned, and a server is illustrated, which specifically includes:
three outdoor units: the positioning module is communicated with the satellite based on the self-set positioning module to determine the position information of the self under a coordinate system corresponding to satellite positioning, and the positioning module sends a positioning signal or a data frame carrying the position information of the self to the positioning monitoring equipment in real time through the self-set positioning label.
Positioning the monitoring equipment: determining the time when the positioning tags on the three outdoor devices send positioning signals or data frames to the positioning monitoring device, and uploading the time information to a server; the positioning monitoring equipment can specifically measure the time of the data frame of each positioning tag arriving at the receiver antenna by using a high-sensitivity short pulse detector; the positioning monitoring equipment and the server can communicate based on a switch adopting a WIFI wireless network or an Ethernet.
A server: according to the time information uploaded by the positioning monitoring equipment, the time difference of the positioning signal sent by the positioning label or the time difference of the data frame reaching the positioning monitoring equipment is determined, and the position information of the positioning monitoring equipment is calculated by using a TDOA algorithm.
A server: and positioning the target to be positioned according to the position information of the positioning monitoring equipment.
In specific implementation, user terminal equipment associated with the server can be further arranged, and indoor position information or moving track information of the target to be positioned, which is obtained by positioning the target to be positioned by using the positioning monitoring equipment, is displayed to a user through the user terminal equipment; and when the collected characteristic information is determined to be not matched with the characteristic information pre-bound by the positioning label of the target to be positioned, sending an abnormal signal through the user terminal.
Further, the positioning base station and the positioning tag mentioned in the above method embodiments may communicate based on UWB technology, the positioning base station may specifically be implemented by a UWB base station, and the corresponding positioning tag may specifically be implemented by a UWB tag; the positioning base station and the positioning label can also communicate based on Wi-Fi technology, the positioning base station can be realized by a wireless Access Point (AP), and the corresponding positioning label can be realized by a module part with Wi-Fi communication function, such as an STA (station) module; the positioning base station and the positioning label can also communicate based on the Bluetooth technology, and the positioning base station and the positioning label can be realized by specifically adopting module parts with the Bluetooth communication function.
Further, in an optional implementation manner, in the method embodiment, the positioning signal sent by the outdoor device further includes time service time determined based on a satellite positioning manner, where the time service time is used to calibrate the indoor time, so as to ensure that, when the indoor positioning is performed, corresponding latitude and longitude information and accurate time information can be obtained like that of the outdoor device.
According to the method provided by the embodiment of the invention, the indoor high-precision positioning and time service effects are realized by combining an outdoor satellite positioning mode and an indoor positioning mode based on the positioning base station, and the problem that the indoor positioning is influenced by poor indoor satellite signals can be effectively solved.
Based on the same inventive concept as the method embodiment, referring to fig. 8, an embodiment of the present invention provides an indoor positioning device 800, including:
a determining module 801, configured to determine a positioning device located indoors, where the positioning device is capable of monitoring an object to be positioned indoors;
the positioning module 802 is configured to position a target to be positioned according to the position information of the positioning device;
the position information of the positioning equipment is determined according to the position information of the positioning base station positioned indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
In the embodiment of the invention, a positioning base station is arranged indoors to receive a positioning signal sent by outdoor equipment in a positioning signal receiving range, wherein the positioning signal comprises position information determined by the positioning equipment based on a satellite positioning mode, namely in a coordinate system corresponding to satellite positioning; according to the position information of the outdoor equipment, the position information of the positioning base station under the coordinate system corresponding to the satellite positioning is determined, the position information of the positioning base station arranged indoors is determined according to the mode, then the position information of the positioning equipment used for indoor positioning under the coordinate system corresponding to the satellite positioning is determined according to the position information of the positioning base station, and further the target to be positioned is positioned according to the position information of the related positioning equipment, namely the position information of the target to be positioned under the coordinate system corresponding to the satellite positioning is determined. The indoor positioning base station is combined with the satellite positioning mode, so that the influence of indoor satellite signal difference on indoor target positioning is avoided, the indoor positioning effect can be improved, and the indoor positioning accuracy is improved.
In an alternative embodiment, the positioning device is a monitoring device provided with a positioning tag; a determining module 801, further configured to:
acquiring a positioning signal sent by a positioning label of monitoring equipment through at least three positioning base stations in a plurality of indoor positioning base stations; the monitoring equipment is positioned in the positioning signal receiving range of at least three positioning base stations;
and determining the position information of the monitoring equipment based on the difference between the times corresponding to the receiving of the positioning signals by at least three positioning base stations.
In an alternative embodiment, the positioning module 802 is specifically configured to:
determining position range information of a monitoring area of monitoring equipment according to the position information of the monitoring equipment capable of monitoring the target to be positioned;
and positioning the target to be positioned according to the determined position range information.
In an optional implementation manner, the positioning device includes a plurality of indoor positioning base stations, and a positioning tag is disposed on an object to be positioned;
the determining module 801 is specifically configured to:
determining at least three positioning base stations which can receive positioning signals sent by positioning labels of targets to be positioned from a plurality of indoor positioning base stations;
the positioning module 802 is specifically configured to:
acquiring the time length of a positioning signal sent by a positioning label of a target to be positioned reaching at least three positioning base stations;
and determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
In an optional embodiment, the apparatus further includes an acquisition module 803;
an acquisition module 803, configured to acquire feature information of a target to be positioned;
the determining module 801 is further configured to send an abnormal signal when it is determined that the acquired feature information is not matched with the feature information pre-bound to the positioning tag of the target to be positioned.
In an optional embodiment, the positioning signal transmitted by the outdoor device further includes a time service time determined based on a satellite positioning method, and the time service time is used for calibrating indoor time.
An embodiment of the present invention further provides an electronic device 900, shown in fig. 9, including:
a communication interface 901, a memory 902, and a processor 903;
wherein the processor 903 communicates with other devices through the communication interface 901. A memory 902 for storing program instructions; and the processor 903 is used for calling the program instructions stored in the memory 902 and executing the method executed by the server in the above embodiment according to the obtained program.
In the embodiment of the present application, the specific connection medium among the communication interface 901, the memory 902, and the processor 903 is not limited, for example, a bus, and the bus may be divided into an address bus, a data bus, a control bus, and the like.
In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
In the embodiment of the present application, the memory may be a non-volatile memory, such as a Hard Disk Drive (HDD) or a solid-state drive (SSD), and may also be a volatile memory (e.g., a random-access memory (RAM)). The memory can also be, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.
Further, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the above-mentioned method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (14)
1. An indoor positioning method, comprising:
determining positioning equipment which is positioned indoors and can monitor an object to be positioned indoors;
positioning the target to be positioned according to the position information of the positioning equipment;
wherein the position information of the positioning device is determined according to the position information of the positioning base station located indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
2. The method of claim 1, wherein the locating device is a monitoring device provided with a locating tag;
determining location information of the positioning device by:
acquiring a positioning signal sent by a positioning tag of the monitoring equipment through at least three positioning base stations in the indoor positioning base stations; wherein the monitoring device is located within the reception range of the positioning signals of the at least three positioning base stations;
and determining the position information of the monitoring equipment based on the difference between the times corresponding to the at least three positioning base stations for receiving the positioning signals.
3. The method as claimed in claim 2, wherein said locating the target to be located according to the location information of the locating device comprises:
determining position range information of a monitoring area of the monitoring equipment according to the position information of the monitoring equipment capable of monitoring the target to be positioned;
and positioning the target to be positioned according to the determined position range information.
4. The method of claim 1, wherein the positioning device comprises a plurality of positioning base stations located in the room, and a positioning tag is disposed on the object to be positioned;
the positioning device which is located indoors and can monitor the target to be positioned in the indoor is determined, and the positioning device comprises:
determining at least three positioning base stations which can receive positioning signals sent by the positioning labels of the targets to be positioned from a plurality of positioning base stations positioned indoors;
the positioning the target to be positioned according to the position information of the positioning device includes:
acquiring the time length of a positioning signal sent by the positioning label of the target to be positioned reaching the at least three positioning base stations;
and determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
5. The method of claim 4, wherein after locating the target to be located, the method further comprises:
collecting characteristic information of the target to be positioned;
and sending an abnormal signal when the collected characteristic information is determined to be not matched with the characteristic information pre-bound by the positioning tag of the target to be positioned.
6. The method according to any one of claims 1 to 5, wherein the positioning signal transmitted by the outdoor device further includes a time service determined based on the satellite positioning method, and the time service is used for calibrating the indoor time.
7. An indoor positioning device, comprising:
the device comprises a determining module, a positioning module and a positioning module, wherein the determining module is used for determining indoor positioning equipment which can monitor an indoor target to be positioned;
the positioning module is used for positioning the target to be positioned according to the position information of the positioning equipment;
wherein the position information of the positioning device is determined according to the position information of the positioning base station located indoors; the position information of the positioning base station is determined according to the position information of the outdoor equipment contained in the positioning signal sent by the outdoor equipment in the receiving range of the positioning signal of the positioning base station; the location information of the outdoor unit is determined based on a satellite positioning manner.
8. The apparatus of claim 7, wherein the locating device is a monitoring device provided with a locating tag; the determining module is further configured to:
acquiring a positioning signal sent by a positioning tag of the monitoring equipment through at least three positioning base stations in the indoor positioning base stations; wherein the monitoring device is located within the reception range of the positioning signals of the at least three positioning base stations;
and determining the position information of the monitoring equipment based on the difference between the times corresponding to the at least three positioning base stations for receiving the positioning signals.
9. The apparatus of claim 8, wherein the positioning module is specifically configured to:
determining position range information of a monitoring area of the monitoring equipment according to the position information of the monitoring equipment capable of monitoring the target to be positioned;
and positioning the target to be positioned according to the determined position range information.
10. The apparatus of claim 7, wherein the positioning device comprises a plurality of positioning base stations located in the room, and a positioning tag is disposed on the object to be positioned;
the determining module is specifically configured to:
determining at least three positioning base stations which can receive positioning signals sent by the positioning labels of the targets to be positioned from a plurality of positioning base stations positioned indoors;
the positioning module is specifically configured to:
acquiring the time length of a positioning signal sent by the positioning label of the target to be positioned reaching the at least three positioning base stations;
and determining the current position information of the target to be positioned according to the difference value between the acquired time lengths.
11. The apparatus of claim 10, further comprising an acquisition module;
the acquisition module is used for acquiring the characteristic information of the target to be positioned;
the determining module is further configured to send an abnormal signal when it is determined that the acquired feature information is not matched with the feature information pre-bound to the positioning tag of the target to be positioned.
12. The apparatus according to any one of claims 7 to 11, wherein the positioning signal transmitted from the outdoor device further includes a time service time determined based on the satellite positioning method, and the time service time is used for calibrating the indoor time.
13. An electronic device, comprising:
a memory and a processor;
a memory for storing program instructions;
a processor for calling the program instructions stored in the memory and executing the method of any one of claims 1 to 6 according to the obtained program.
14. A computer readable storage medium having stored thereon computer instructions which, when run on a computer, cause the computer to perform the method of any of claims 1-6.
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| CN202010242811.8A CN111432333A (en) | 2020-03-31 | 2020-03-31 | Indoor positioning method and device |
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| CN202010242811.8A CN111432333A (en) | 2020-03-31 | 2020-03-31 | Indoor positioning method and device |
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Application publication date: 20200717 |