CN111654816B - Method for displaying non-penetrating barrier by Bluetooth indoor positioning point - Google Patents
Method for displaying non-penetrating barrier by Bluetooth indoor positioning point Download PDFInfo
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- CN111654816B CN111654816B CN202010141716.9A CN202010141716A CN111654816B CN 111654816 B CN111654816 B CN 111654816B CN 202010141716 A CN202010141716 A CN 202010141716A CN 111654816 B CN111654816 B CN 111654816B
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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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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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
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
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- 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
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The invention discloses a method for displaying a Bluetooth indoor positioning point without penetrating a barrier, which comprises an algorithm processing method of the positioning point and a processing method of the positioning point on a map display, wherein the specific algorithm process comprises the following steps: after the positioning algorithm starts, the terminal equipment receives signals emitted by the fixed Bluetooth beacon, the position of the terminal is calculated by the positioning algorithm through three-point positioning, and then Kalman filtering is used for preventing the positioning point from fluctuating back and forth due to instability of the signals, so that the positioning point is calculated to be positioned in the area of the map. The method and the device solve the problem that the Bluetooth indoor positioning passes through the barrier when the positioning point moves in the actual positioning, and optimize the user experience to a great extent from the viewpoint of the positioning display effect. The invention can effectively solve the problem that the positioning point penetrates through an obstacle when moving due to insufficient positioning precision of the Bluetooth positioning point.
Description
Technical Field
The invention relates to the related field of Bluetooth positioning technology, in particular to a method for displaying a non-penetrating barrier by a Bluetooth indoor positioning point.
Background
With the maturity of outdoor positioning technologies such as GPS/beidou, the positioning technology is moving from outdoor to indoor, and in recent years, with the popularization of the internet of things, the indoor positioning technology is more and more favored by industries such as judicial expertise, old-age maintenance, chemical industry, and the like. In a plurality of technologies of indoor positioning, the applications of Bluetooth, UWB, RFID and the like are the widest, and Bluetooth is used as an important component of communication of terminal equipment such as a mobile phone, a bracelet and the like, and has absolute advantages in balancing cost and positioning effect. The existing Bluetooth positioning technology generally combines RSSI signal strength with a three-point positioning principle to calculate RSSI values of three received Bluetooth devices, finally calculates the position of a terminal device according to the RSSI values of the three Bluetooth devices, the positioning precision is only 2-3 m, and because no further processing is carried out between a map and a positioning position, the position is displayed on the map, and the position is directly translated by coordinates when being displayed, the Bluetooth positioning technology judges the position of the terminal device according to the RSSI signal strength of the Bluetooth devices, so that the situation that signals directly pass through a wall or an obstacle from one room to another room is easy to occur.
Disclosure of Invention
The invention aims to provide a method for preventing a Bluetooth indoor positioning point from penetrating through an obstacle during mobile display, and realizes that the display effect of Bluetooth positioning does not penetrate through the obstacle but is displayed according to an obstacle-free track by introducing a new scheme of combining positioning and a map engine so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a method for displaying an indoor positioning point of a Bluetooth without penetrating a barrier comprises an algorithm processing method of the positioning point and a processing method of the positioning point on a map display, and the specific algorithm process is as follows: after the process is started, the terminal equipment receives a signal sent by Bluetooth beacon point broadcasting at a fixed position, a positioning algorithm calculates the position of the terminal by using three-point positioning, then prevents information fluctuation by using Kalman filtering, calculates the position of a positioning point in the area of a map, finally displays the position of the positioning point and the track of the positioning point during moving according to the area attribute, the area of the last positioning point and a navigation line between the two areas, and ends the process;
the algorithm processing method of the positioning point comprises the following steps: in the positioning by using the Bluetooth field intensity signal, a Bluetooth beacon is placed at the position of an indoor fixed space, the position of a beacon point is represented by longitude and latitude coordinates according to the actual position on a map, a positioning terminal continuously scans the Bluetooth signal field intensity RSSI value broadcasted by the Bluetooth beacon, and the position of the terminal is calculated; the positioning terminal at least needs to scan the RSSI field intensity of three beacons during positioning, generally scans all the Bluetooth signal field intensity once, screens out three beacon points of strongest signals by utilizing a sorting algorithm according to the strength and weakness of the signal points, then calculates the position of a positioning point according to the positions of the three beacons and the RSSI value of the signal, the RSSI value of the beacon point is in direct proportion to the logarithm of the distance, and a formula can be obtained:
d＝10^((abs(RSSI)-A)/(10*n))
wherein: d is the calculated distance, A is the signal field intensity value of the positioning terminal one meter away from the positioning beacon point, the adjustment is carried out according to the positioning site, and n is an environmental attenuation factor;
calculating the distances between the positioning terminal and the three beacon points according to the formula, and calculating the distances between the terminal and the beacon points, which are respectively marked as R1, R2 and R3, according to the known position marks of the three beacon points, the positions of (x1, y1), (x2, y2) and (x3 and y3) in a coordinate system are marked, and the position formula of the intersection point of the three circles, namely the position point of the terminal is obtained by utilizing the Pythagorean theorem, wherein the formula is as follows:
(x1-x0) 2 +(y2-y0) 2 ＝r1 2 ；
(x2-x0) 2 +(y2-y0) 2 ＝r2 2 ；
(x3-x0) 2 +(y3-y0) 2 ＝r3 2 ；
according to the formula, the coordinates (x0, y0) of the terminal position point are further calculated, the terminal position continuously jumps along with the fluctuation of the signal, then Kalman filtering is utilized to determine a noise factor, and the obtained positioning point is subjected to signal-noise filtering, so that the position (x, y) of the stable terminal coordinate is obtained;
the processing method of the positioning point on the map display comprises the following steps:
step 1, firstly, classifying rooms on a map to be displayed, and then sorting the rooms according to the types of the rooms;
step 2: drawing a route in an indoor walkable area and creating a road network;
and step 3: calculating the room number of the positioning point according to the position of the positioning point obtained in the first step;
and 4, step 4: comparing the numbers of the rooms where the two adjacent positioning points are located, and if the numbers are not consistent, proving that the position crosses the barrier and needing to perform detour processing;
and 5: before the positioning point moves from the current position to the next position, the optimal moving path is calculated according to the road network, and the movement between the positions is carried out according to the path, so that the positioning effect can be displayed without penetrating through a wall or an obstacle.
Preferably, in the step of the processing method of the positioning point on the map display, if the room numbers of the two adjacent positioning points are consistent, that is, the positioning point does not cross the obstacle, the positioning point is directly moved to the current position according to the positioning point calculated in the step 1.
Compared with the prior art, the invention has the beneficial effects that:
1. by the method and the device, the problem of passing through the barrier is solved, and the user experience is optimized to a great extent.
2. The invention improves the position stability of the positioning point by combining the Bluetooth triangulation positioning technology and the Kalman filtering, and reduces the position fluctuation.
3. The invention solves the problem of barrier penetration caused by insufficient positioning precision of the Bluetooth positioning point by combining the positioning position with the map data attribute and the road network data, thereby achieving a smoother and more real positioning display effect.
Drawings
FIG. 1 is a schematic diagram of the algorithm block diagram of the present invention;
FIG. 2 is a schematic diagram of a processing structure of data of three beacon points according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an anchor point processing method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Referring to fig. 1-3, the present invention provides a technical solution: a method for displaying an indoor positioning point of a Bluetooth without penetrating a barrier comprises an algorithm processing method of the positioning point and a processing method of the positioning point on a map display, and the specific algorithm process is as follows: after the process is started, the terminal equipment receives a signal sent by fixed Bluetooth beacon point broadcasting, a positioning algorithm calculates the position of a terminal by utilizing three-point positioning based on the prior art, a Kalman filtering calculation is utilized to determine a noise factor, the position of a stable terminal coordinate is obtained to prevent information fluctuation, the positioning point is calculated to be positioned in the area of a map, finally, the position and the moving track of the positioning point are displayed according to the area attribute, the area where the last positioning is positioned on the map and a navigation line between the two areas, and the process is ended;
the algorithm processing method of the positioning point comprises the following steps: in the positioning by using the intensity of the Bluetooth signal field, the Bluetooth beacon is placed at the position of an indoor fixed space, the position is stored in a database according to the position of a beacon point on an actual map, a positioning terminal continuously scans the RSSI value of the Bluetooth signal broadcasted by the positioning beacon, the position of the terminal is calculated, the RSSI field intensity of at least three beacons is scanned when the positioning terminal is positioned, all Bluetooth beacon signals around the terminal are generally scanned, three beacon points of strongest signals are screened out by using a sorting algorithm according to the intensity sorting of the signal point field intensity, the position of the positioning point is calculated according to the position of the three beacons and the RSSI value, the RSSI value of the beacon point is in direct proportion to the logarithm of the distance, and the formula can be obtained:
d＝10^((abs(RSSI)-A)/(10*n))
wherein: d is the calculated distance, A is the signal field intensity value of the positioning terminal one meter away from the positioning beacon point, the adjustment is carried out according to the positioning site, and n is an environmental attenuation factor;
calculating the distances between the positioning terminal and the three beacon points according to the formula, and calculating the distances between the terminal and the beacon points, which are respectively marked as R1, R2 and R3, according to the known position marks of the three beacon points, the positions of (x1, y1), (x2, y2) and (x3 and y3) in a coordinate system are marked, and the position formula of the intersection point of three circles, namely the position point of the terminal is obtained by using the Pythagorean theorem, and the diagram for processing the data of the three beacon points is shown in FIG. 2 and has the following formula:
(x1-x0) 2 +(y2-y0) 2 ＝r1 2 ；
(x2-x0) 2 +(y2-y0) 2 ＝r2 2 ；
(x3-x0) 2 +(y3-y0) 2 ＝r3 2 ；
according to the formula, the coordinates (x0, y0) of the terminal position point are further calculated, the terminal position continuously jumps along with the fluctuation of the signal, then Kalman filtering is utilized to determine a noise factor, and the signal-noise filtering is carried out on the obtained positioning point so as to obtain the position (x, y) of the stable terminal coordinate;
the processing method of the positioning point on the map display comprises the following steps:
step 1, firstly, classifying rooms on a map to be displayed, and then sorting the rooms according to the types of the rooms;
and 2, step: drawing a route in an indoor walkable area and creating a road network;
and step 3: calculating the room number of the positioning point according to the position of the positioning point obtained in the first step;
and 4, step 4: comparing the numbers of the rooms where the two adjacent positioning points are located, and if the numbers are not consistent, proving that the position crosses the barrier and needing to perform detour processing;
and 5: before the positioning point moves from the current position to the next position, the optimal moving path is calculated according to the road network, and the movement between the positions is carried out according to the path, so that the positioning effect can be displayed without penetrating through a wall or an obstacle.
Furthermore, in the step of the processing method of the positioning points on the map display, if the room numbers of the two adjacent positioning points are consistent, that is, the positioning points do not cross the obstacle, the positioning points directly move to the current position according to the positioning points calculated in the step 1.
As shown in fig. 3, after the positioning algorithm is positioned at the position of the positioning terminal, when the positioning point moves from a to B, if the positioning point is not processed, the positioning terminal directly penetrates through the wall, after the scheme is used, the area where a is located is judged to belong to a room a, the area where B is located belongs to a corridor B and does not belong to one area according to the position of a, a path from the positioning point a to the positioning point B is further planned, and when the positioning point moves from a to B, the movement track from a to B is displayed according to the planned path, so that the situation that the positioning point a penetrates through the wall in the process of moving from a to B is avoided.
The analysis is carried out by combining the processes, as the accuracy of the Bluetooth positioning is 2-3 meters, in the process of moving from one area to another area, the positioning point passes through the barrier when moving due to the positioning accuracy problem, and the user experience is often not ideal enough in some indoor scene applications, but the user experience is greatly optimized by solving the problem of passing through the barrier through the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative examples and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any icons in the claims should not be construed as limiting the claim concerned.
Claims (2)
1. A method for displaying a non-penetrating barrier by a Bluetooth indoor positioning point is characterized in that: the method comprises an algorithm processing method of positioning points and a processing method of the positioning points on map display, and comprises the following specific algorithm processes: after the start, the terminal equipment receives a field intensity RSSI signal broadcast by a fixed Bluetooth beacon point, a positioning algorithm calculates the position of the terminal by using a three-point positioning principle, and then a Kalman filtering signal is used for preventing information fluctuation; then, calculating which area the positioning point is located in by using the map data, finally determining the position of the positioning point and the track of the positioning point in the moving process according to the map area attribute, the position of the last positioning point and the navigation line between the two areas, and ending the process;
the algorithm processing method of the positioning point comprises the following steps: in a Bluetooth indoor positioning scene, a Bluetooth beacon is placed at the position of an indoor fixed space, and the position of a beacon point is calibrated to an indoor map through the indoor map and stored in a point data base; in the positioning process, the Bluetooth positioning terminal continuously scans the RSSI field intensity value of a signal broadcasted by a Bluetooth beacon, calculates the position of the Bluetooth positioning terminal according to the change of the signal field intensity value and displays the position on a map; scanning RSSI field intensity values of at least three Bluetooth beacons when the positioning terminal is positioned; generally, field intensity signals of all scanned Bluetooth beacons are recorded in one-time scanning, three beacon points of strongest signals are screened out by utilizing a sorting algorithm according to the sorting of the field intensity of the signal points, then the position of a positioning point is calculated according to the positions of the three beacons and a signal RSSI value, the RSSI value of the beacon points is in direct proportion to the logarithm of the distance, and the positioning method can be carried out according to a formula:
d＝10^((abs(RSSI)-A)/(10*n))
wherein: d is the calculated distance, A is the signal field intensity value of the positioning terminal one meter away from the positioning beacon point, the adjustment is carried out according to the positioning site, and n is an environmental attenuation factor;
calculating the distances between the positioning terminal and the three beacon points according to the formula, and calculating the distances between the terminal and the beacon points, which are respectively marked as r1, r2 and r3, according to the known position marks of the three beacon points, the positions of (x1, y1), (x2, y2) and (x3 and y3) in a coordinate system are marked, and the position formula of the intersection point of the three circles, namely the position point of the terminal is obtained by utilizing the Pythagorean theorem, wherein the formula is as follows:
(x1-x0) 2 +(y2-y0) 2 ＝r1 2 ；
(x2-x0) 2 +(y2-y0) 2 ＝r2 2 ；
(x3-x0) 2 +(y3-y0) 2 ＝r3 2 ；
according to the formula, further calculating coordinates (x0, y0) of a Bluetooth positioning terminal position point, determining a noise factor by using Kalman filtering due to continuous jumping of the terminal position along with signal fluctuation, and performing signal-noise filtering on the obtained positioning point to obtain a stable position (x, y) of the terminal coordinate;
the processing method of the positioning point on the map display comprises the following steps:
step 1, firstly, classifying rooms on a map to be displayed on the map, and then sorting the rooms according to the types of the rooms;
step 2: drawing a route in an indoor walkable area and creating a road network;
and step 3: calculating the room number of the positioning point according to the position of the positioning point obtained in the first step;
and 4, step 4: comparing the numbers of the rooms where the two adjacent positioning points are located, and if the numbers are not consistent, proving that the position crosses the barrier and needing to perform detour processing;
and 5: before the positioning point moves from the current position to the next position, the optimal moving path is calculated according to the road network, and the movement between the positions is carried out according to the path, so that the positioning effect can be displayed without penetrating through a wall or an obstacle.
2. The method of claim 1, wherein the bluetooth indoor location point display does not penetrate the obstacle, and the method comprises the following steps: in the steps of the processing method of the positioning points on the map display, if the room numbers of the two adjacent positioning points are consistent, that is, the positioning points do not cross the obstacle, the positioning points directly move to the current position in a straight line according to the positioning points calculated in the step 1.
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| CN108562869B (en) * | 2018-05-22 | 2021-08-03 | 京东方科技集团股份有限公司 | Indoor positioning navigation system and method |
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