CN111988739A - High-precision positioning market shopping guide system and application method thereof - Google Patents
High-precision positioning market shopping guide system and application method thereof Download PDFInfo
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- CN111988739A CN111988739A CN202010780658.4A CN202010780658A CN111988739A CN 111988739 A CN111988739 A CN 111988739A CN 202010780658 A CN202010780658 A CN 202010780658A CN 111988739 A CN111988739 A CN 111988739A
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
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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
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a market shopping guide system with high-precision positioning, which comprises: the system comprises an equipment end, a base station end, a server end and a client end; the equipment end is held by traveling personnel and comprises a positioning label, positioning equipment and a main control module; the positioning tag sends out a UWB signal to the base station end; the positioning equipment comprises an inertial sensor module, a micro control unit and a communication module; the base station end comprises a positioning base station, and the positioning base station is deployed at each entrance and each elevator entrance of a shopping mall; the client at least comprises positioning software; the server side comprises a positioning server. Also discloses an application method of the high-precision positioning market shopping guide system; the integrated positioning scheme mainly based on PDR reasoning and assisted by UWB positioning technology is adopted, the problem of accumulated errors of the PDR technology can be effectively solved, the positioning precision is improved, the high cost of the layout of the positioning base station for UWB positioning is greatly reduced, and the positioning information of shopping mall shopping guide can be accurately provided.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a high-precision positioning market shopping guide system and an application method thereof.
Background
Along with the social progress, large-scale shopping malls, indoor exhibition centers and large-scale entertainment places are emerging continuously, the demand of people on indoor position service is enhanced day by day, in recent years, indoor Bluetooth positioning and wifi positioning are widely applied to places such as shopping guide in shopping malls, parking lots and the like, but for complex space environments, the stability of a Bluetooth positioning system is poor, the interference of noise signals is large, the positioning accuracy is about 5-10 meters, when the wifi positioning is carried out, the wifi positioning is carried out only by depending on which wifi access point is nearest, but not depending on a synthesized signal intensity diagram, and the positioning on floors is easy to make mistakes.
The internal environment of a market is complex and changeable, the existing indoor positioning technology does not reach higher precision, and a pedestrian dead reckoning method (PDR) measures and counts the walking steps, step length and direction of a pedestrian through a sensor of a mobile terminal, but because the PDR reckoning technology is influenced by factors such as inconsistent step length, errors in the acquisition direction of the sensor and the like, the position deduced by the PDR reckoning technology has certain errors and accumulated errors, and is not suitable for long-term use; UWB (ultra wide band) positioning is a positioning mode based on tof (time Of flight) principle, which directly modulates sharply changing pulses to make signals have broadband Of GHz magnitude, but requires a plurality Of base stations to be built in a venue, and the laying cost is high.
Disclosure of Invention
The invention aims to provide a technical scheme of a market shopping guide system with high-precision positioning and an application method thereof aiming at the defects in the prior art, and adopts a fusion positioning scheme which takes PDR reasoning as a main part and takes UWB positioning technology as an auxiliary part, so that the problem of accumulated error of the PDR technology can be effectively solved, the positioning precision is improved, the high cost of the layout of a positioning base station for UWB positioning is greatly reduced, and the positioning information of the market shopping guide can be accurately provided.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a market shopping guide system of high accuracy location which characterized in that includes: the system comprises an equipment end, a base station end, a server end and a client end; the base station end can provide and update the initial position coordinates for the inertial sensor module, and can clear the accumulated error in the PDR estimation in the inertial sensor module, so that the positioning accuracy is improved; the equipment end can collect data of the traveling personnel and position the traveling personnel; the client is used for the client to check the positioning information of the equipment terminal;
the equipment end is held by traveling personnel and comprises a positioning label, positioning equipment and a main control module;
the positioning tag sends out a UWB signal to the base station end;
the positioning equipment comprises an inertial sensor module, a micro control unit and a communication module, wherein the inertial sensor module acquires motion data of a travelling person and transmits the motion data to the micro control unit, the micro control unit infers and calculates position coordinates of the travelling person by using the motion data acquired by the inertial sensor module and a PDR (product data record), and the communication module sends the position coordinates calculated by the micro control unit to a server end; the positioning equipment autonomously calculates the path by means of PDR reasoning;
the base station end comprises positioning base stations, the positioning base stations are deployed at each entrance and each elevator entrance of a shopping mall, the positioning base stations are used for scanning positioning labels and calculating position coordinates of the equipment end through a TDOA algorithm, and the positioning base stations are communicated with the server end; the positioning base station analyzes the position of the positioning label by adopting a TDOA algorithm, and because the positioning base station takes PDR reasoning of the inertial sensor module as a leading factor in the application and provides initial position coordinate service for the PDR reasoning again only when a traveler passes through, the arrangement number of the positioning base stations in a market is greatly reduced, and the cost is saved;
the client at least comprises positioning software which displays the internal structure of the shopping mall in the form of a three-dimensional stereogram and is used for identifying the position of the positioning base station and the real-time position of the display equipment end; the traveling personnel can check the positioning information of the traveling personnel at any time through the positioning software, and the position information of the traveling personnel is more similar due to the visual display of the three-dimensional stereo map;
the server end comprises a positioning server, the positioning server receives the position coordinates sent by the positioning base station and sends the position coordinates to the positioning equipment for eliminating errors, and the positioning server is in communication connection with the communication module.
Further, the carrier at the equipment end includes, but is not limited to, a shopping cart with a positioning function, a shopping basket, a shopping cloth bag, a hand ring, a mobile phone and a chest card; the main characteristics of the carrier at the equipment end are convenient for carrying and can be convenient for the inertial sensor module to carry out information acquisition on approaching personnel and scan the positioning label by the positioning base station.
Further, inertial measurement sensors are disposed on the inertial sensor module, and include, but are not limited to, an acceleration sensor, a gyroscope, and a magnetometer.
Furthermore, the positioning equipment also comprises a first receiving module, a memory module and an ID module, wherein the first receiving unit is used for receiving the initial position coordinate of the equipment end, the memory module stores the initial position coordinate of the equipment end and takes the initial position coordinate as an initial calculation point of PDR inference, and the ID module is used for setting a unique ID number for the positioning equipment; the ID module can distinguish different positioning devices by carrying out unique ID serial numbers on the positioning devices, and the effectiveness and the correctness of information transmission are ensured.
Furthermore, the positioning equipment also comprises a second receiving module and a calibration module, wherein the second receiving module receives the position coordinates calculated by the positioning base station sent by the positioning server and transmits the position coordinates to the calibration module, and the calibration module calibrates the current initial dead reckoning point to eliminate the accumulated error; because the last position coordinate is used as a calculation point for the PDR reasoning, a certain error exists in the position deduced by the PDR reasoning due to the influences of factors such as inconsistent step length and error in the acquisition direction, the accumulated error is increased due to the last position coordinate, and the calibration module can zero the accumulated error in the PDR reasoning according to the position coordinate calculated by the positioning base station, so that the positioning precision is improved.
Furthermore, the positioning base station comprises an identification unit, an uploading unit and a calculation unit, wherein the identification unit is used for scanning the positioning label, the calculation unit receives a UWB signal sent by the positioning label, carries out position analysis on the positioning equipment by adopting a TDOA positioning algorithm, gives an initial position coordinate of the equipment end, and the uploading unit sends the initial position coordinate of the equipment end to the positioning server.
Furthermore, the positioning server comprises a second receiving module, a third receiving module and a storage module, wherein the second receiving module is used for being in communication connection with the positioning base station, the third receiving module is in communication connection with the communication module of the equipment end, and the storage module is used for temporarily storing and arranging data sent by the positioning base station and the inertial sensor module; the third receiving module receives the ID code sent by the communication module and the position coordinate calculated by using the PDR inference, and the second receiving module receives the position coordinate calculated by using the TDOA algorithm sent by the positioning base station.
Furthermore, the positioning software comprises a display module, an inquiry module and a fourth receiving module, wherein the display module displays the interior of the shopping mall in a three-dimensional stereogram mode, the inquiry module sends a positioning inquiry instruction to the positioning server, the positioning server acquires real-time position coordinates of corresponding positioning equipment after receiving the positioning inquiry instruction, the fourth receiving module receives the real-time position coordinates sent by the positioning server, and the display module performs positioning conversion on the real-time position coordinates received by the fourth receiving module and displays the real-time position coordinates on the display module corresponding to the three-dimensional stereogram.
The application method of the market shopping guide system with high-precision positioning is characterized by comprising the following steps:
s1, firstly, arranging a positioning base station at each entrance and each elevator entrance of a market;
s2, building and maintaining positioning software, drawing a three-dimensional map of the inside of a market by using the three-dimensional mapping software, and marking the position of the positioning base station on the three-dimensional map;
s3, the carrier with positioning device enters the range covered by the positioning base station at the entrance of the market for the first time, the positioning label emits UWB wave to the positioning base station, the positioning base station scans the UWB wave and analyzes the position of the positioning label by TDOA positioning algorithm, the initial position coordinate of one device end is given and recorded as S0(N0，E0) Sending the initial position coordinates and the ID numbers to a positioning server, and sending the initial position coordinates to positioning equipment of an equipment end corresponding to the ID numbers by the positioning server;
s4, after the moving personnel continuously move away from the coverage area of the positioning base station, the inertial sensor module in the positioning equipment collects the acceleration, the angular velocity, the magnetic force and the pressure of the personnel in the moving process, and the inertial sensor module is beneficial to the collection of the acceleration, the angular velocity, the magnetic force and the pressure of the personnel in the moving processCalculating the step length and direction of the traveling personnel by using the data, calculating the position S of any time k by using the initial position coordinate as an initial calculation point according to a calculation formulaK(NK，EK)；
If the traveling track of the traveling personnel is as follows:
the PDR estimation formula is:
and d is a linear distance between the positioning equipment and the initial position.
At a known starting dead reckoning point coordinate S0(N0，E0) In the case of (2), the micro control unit can calculate the position coordinates S of the device end at time kK(NK，EK)；
S5, the communication module coordinates S of the position of the equipment terminal at the moment kK(NK，EK) And the ID number of the client is uploaded to a positioning server, and the position of the equipment end at the moment k on the three-dimensional stereo image is synchronously displayed on the client;
s6, using the position coordinate S of the device end at the moment kK(NK，EK) Substitution of S0(N0，E0) The calculation starting point is used as the calculation starting point of the position coordinate of the next moment, a new position coordinate is calculated, and the position of the equipment end at the new moment on the three-dimensional stereogram is synchronously displayed on the client;
s7, if the marching personnel hold the equipment end to enter the range covered by another positioning base station in the marching process, the positioning base station can recalculate the position coordinate S of the equipment endn(Nn，En) Positioning base station coordinates Sn(Nn，En) And ID number of the device sideUploading to a positioning server, and enabling the positioning server to obtain the position coordinate Sn(Nn，En) Sending the data to corresponding positioning equipment according to the position coordinates Sn(Nn，En) Calibrating the coordinates of the initial calculation point, and eliminating the accumulated error; the PDR inference continues to use the last position coordinate as an initial calculation point for inference, due to the influences of factors such as inconsistent step length and error in the acquisition direction, the position inferred by the PDR inference has a certain error, the accumulated error is increased due to the fact that the last position coordinate is used, the accumulated error in the PDR inference can be cleared, and therefore the positioning accuracy is improved.
And S8, the traveling personnel check the real-time positioning information through the client.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the inertial sensor module can autonomously calculate a path by means of PDR reasoning, the set positioning base stations can provide and reset initial position coordinates for the inertial sensor module, and accumulated errors in PDR reasoning in the inertial sensor module can be cleared, so that the positioning accuracy is improved.
The invention adopts a fusion positioning scheme which takes PDR reasoning as a main part and takes UWB positioning technology as an auxiliary part, can effectively improve the problem of accumulated error of the PDR technology, improves the positioning precision, greatly reduces the high cost of the layout of the positioning base station for UWB positioning, and can accurately provide the positioning information of shopping guide.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
fig. 1 is a schematic diagram of an application of a shopping guide system with high-precision positioning in the present invention.
Detailed Description
As shown in fig. 1, the shopping guide system for high-precision positioning in market of the present invention comprises: the system comprises an equipment end, a base station end, a server end and a client end; the base station end can provide and update the initial position coordinates for the inertial sensor module, and can clear the accumulated error in the PDR estimation in the inertial sensor module, so that the positioning accuracy is improved; the equipment end can collect data of the traveling personnel and position the traveling personnel; the client is used for the client to check the positioning information of the equipment terminal;
the equipment end is held by traveling personnel and comprises a positioning label, positioning equipment and a main control module;
the positioning tag sends out a UWB signal to the base station end;
the positioning equipment comprises an inertial sensor module, a micro control unit and a communication module, wherein the inertial sensor module acquires motion data of a travelling person and transmits the motion data to the micro control unit, the micro control unit infers and calculates position coordinates of the travelling person by using the motion data acquired by the inertial sensor module and a PDR (product data record), and the communication module sends the position coordinates calculated by the micro control unit to a server end; the positioning equipment autonomously calculates the path by means of PDR reasoning;
the base station end comprises positioning base stations, the positioning base stations are deployed at each entrance and each elevator entrance of a shopping mall, the positioning base stations are used for scanning positioning labels and calculating position coordinates of the equipment end through a TDOA algorithm, and the positioning base stations are communicated with the server end; the positioning base station adopts the TDOA algorithm to carry out position analysis on the positioning label, and because the positioning base station takes PDR reasoning of the inertial sensor module as the leading factor in the application and provides initial position coordinate service for the PDR reasoning again only when the traveler passes through, the arrangement number of the positioning base stations in the market is greatly reduced, and the cost is saved
The client at least comprises positioning software which displays the internal structure of the shopping mall in the form of a three-dimensional stereogram and is used for identifying the position of the positioning base station and the real-time position of the display equipment end; the traveling personnel can check the positioning information of the traveling personnel at any time through the positioning software, and the position information of the traveling personnel is more similar due to the visual display of the three-dimensional stereo map;
the server end comprises a positioning server, the positioning server receives the position coordinates sent by the positioning base station and sends the position coordinates to the positioning equipment for eliminating errors, and the positioning server is in communication connection with the communication module.
The carrier at the equipment end comprises but is not limited to a shopping cart, a shopping basket, a shopping cloth bag, a hand ring, a mobile phone and a chest card with a positioning function; the main characteristics of the carrier at the equipment end are convenient for carrying and can be convenient for the inertial sensor module to carry out information acquisition on approaching personnel and scan the positioning label by the positioning base station.
The inertial sensor module is provided with inertial measurement sensors, including but not limited to acceleration sensors, gyroscopes and magnetometers.
The positioning equipment further comprises a first receiving module, a memory module and an ID module, wherein the first receiving unit is used for receiving the initial position coordinate of the equipment end, the memory module stores the initial position coordinate of the equipment end and takes the initial position coordinate as an initial calculation point of PDR reasoning, and the ID module is used for setting a unique ID number for the positioning equipment; the ID module can distinguish different positioning devices by carrying out unique ID serial numbers on the positioning devices, and the effectiveness and the correctness of information transmission are ensured.
The positioning equipment also comprises a second receiving module and a calibration module, wherein the second receiving module receives the position coordinates calculated by the positioning base station and sent by the positioning server and transmits the position coordinates to the calibration module, and the calibration module calibrates the current initial dead reckoning point to eliminate the accumulated error; because the last position coordinate is used as a calculation point for the PDR reasoning, a certain error exists in the position deduced by the PDR reasoning due to the influences of factors such as inconsistent step length and error in the acquisition direction, the accumulated error is increased due to the last position coordinate, and the calibration module can zero the accumulated error in the PDR reasoning according to the position coordinate calculated by the positioning base station, so that the positioning precision is improved.
The positioning base station comprises an identification unit, an uploading unit and a calculation unit, wherein the identification unit is used for scanning a positioning label, the calculation unit receives a UWB signal sent by the positioning label, carries out position analysis on the positioning equipment by adopting a TDOA positioning algorithm, gives an initial position coordinate of an equipment end, and the uploading unit sends the initial position coordinate of the equipment end to a positioning server.
The positioning server comprises a second receiving module, a third receiving module and a storage module, wherein the second receiving module is used for being in communication connection with the positioning base station, the third receiving module is in communication connection with the communication module of the equipment end, and the storage module is used for temporarily storing and arranging data sent by the positioning base station and the inertial sensor module; the third receiving module receives the ID code sent by the communication module and the position coordinate calculated by using the PDR inference, and the second receiving module receives the position coordinate calculated by using the TDOA algorithm sent by the positioning base station.
The positioning software comprises a display module, an inquiry module and a fourth receiving module, wherein the display module displays the interior of a shopping mall in a three-dimensional stereogram mode, the inquiry module sends a positioning inquiry instruction to the positioning server, the positioning server receives the positioning inquiry instruction and then acquires real-time position coordinates of corresponding positioning equipment, the fourth receiving module receives the real-time position coordinates sent by the positioning server, and the display module performs positioning conversion on the real-time position coordinates received by the fourth receiving module and displays the real-time position coordinates on the display module corresponding to the three-dimensional stereogram.
The application method of the market shopping guide system with high-precision positioning comprises the following steps:
s1, firstly, arranging a positioning base station at each entrance and each elevator entrance of a market;
s2, building and maintaining positioning software, drawing a three-dimensional map of the inside of a market by using the three-dimensional mapping software, and marking the position of the positioning base station on the three-dimensional map;
s3, the carrier with positioning device enters the range covered by the positioning base station at the entrance of the market for the first time, the positioning label emits UWB wave to the positioning base station, the positioning base station scans the UWB wave and analyzes the position of the positioning label by TDOA positioning algorithm, the initial position coordinate of one device end is given and recorded as S0(N0，E0) Sending the initial position coordinates and the ID numbers to a positioning server, and sending the initial position coordinates to positioning equipment of an equipment end corresponding to the ID numbers by the positioning server;
s4, after the marching personnel continuously move away from the coverage area of the positioning base station, the inertial sensor module in the positioning equipment collects the acceleration, the angular velocity, the magnetic force and the pressure of the personnel in the marching process, the data is used for carrying out the calculation of the step length and the direction of the marching personnel, the initial position coordinate is used as the initial calculation point, and the initial position coordinate is used as the initial calculation pointCalculating the position S of any time k according to an estimation formulaK(NK，EK)；
If the traveling track of the traveling personnel is as follows:
the PDR estimation formula is:
and d is a linear distance between the positioning equipment and the initial position.
At a known starting dead reckoning point coordinate S0(N0，E0) In the case of (2), the micro control unit can calculate the position coordinates S of the device end at time kK(NK，EK)；
S5, the communication module coordinates S of the position of the equipment terminal at the moment kK(NK，EK) And the ID number of the client is uploaded to a positioning server, and the position of the equipment end at the moment k on the three-dimensional stereo image is synchronously displayed on the client;
s6, using the position coordinate S of the device end at the moment kK(NK，EK) Substitution of S0(N0，E0) The calculation starting point is used as the calculation starting point of the position coordinate of the next moment, a new position coordinate is calculated, and the position of the equipment end at the new moment on the three-dimensional stereogram is synchronously displayed on the client;
s7, if the marching personnel hold the equipment end to enter the range covered by another positioning base station in the marching process, the positioning base station can recalculate the position coordinate S of the equipment endn(Nn，En) Positioning base station coordinates Sn(Nn，En) And the ID number of the equipment end is uploaded to a positioning server, and the positioning server transmits the position coordinate Sn(Nn，En) Is sent toCorresponding positioning device, the positioning device being based on the position coordinates Sn(Nn，En) Calibrating the coordinates of the initial calculation point, and eliminating the accumulated error; the PDR inference continues to use the last position coordinate as an initial calculation point for inference, due to the influences of factors such as inconsistent step length and error in the acquisition direction, the position inferred by the PDR inference has a certain error, the accumulated error is increased due to the fact that the last position coordinate is used, the accumulated error in the PDR inference can be cleared, and therefore the positioning accuracy is improved.
And S8, the traveling personnel check the real-time positioning information through the client.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the inertial sensor module can autonomously calculate a path by means of PDR reasoning, the set positioning base stations can provide and reset initial position coordinates for the inertial sensor module, and accumulated errors in PDR reasoning in the inertial sensor module can be cleared, so that the positioning accuracy is improved.
The invention adopts a fusion positioning scheme which takes PDR reasoning as a main part and takes UWB positioning technology as an auxiliary part, can effectively improve the problem of accumulated error of the PDR technology, improves the positioning precision, greatly reduces the high cost of the layout of the positioning base station for UWB positioning, and can accurately provide the positioning information of shopping guide.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple variations, equivalent substitutions or modifications based on the present invention to achieve substantially the same technical effects are within the scope of the present invention.
Claims (9)
1. The utility model provides a market shopping guide system of high accuracy location which characterized in that includes: the system comprises an equipment end, a base station end, a server end and a client end;
the equipment end is held by traveling personnel and comprises a positioning tag, positioning equipment and a main control module;
the positioning tag sends out a UWB signal to the base station end;
the positioning equipment comprises an inertial sensor module, a micro control unit and a communication module, wherein the inertial sensor module acquires motion data of a travelling person and transmits the motion data to the micro control unit, the micro control unit infers and calculates the position coordinate of the travelling person by using the motion data acquired by the inertial sensor module and a PDR (product data record), and the communication module sends the position coordinate calculated by the micro control unit to the server end;
the base station end comprises positioning base stations, the positioning base stations are deployed at each entrance and each elevator entrance of a shopping mall, the positioning base stations are used for scanning the positioning labels and calculating the position coordinates of the equipment end through a TDOA algorithm, and the positioning base stations are communicated with the server end;
the client at least comprises positioning software which displays the internal structure of a shopping mall in the form of a three-dimensional stereogram and is used for identifying the position of the positioning base station and displaying the real-time position of the equipment end;
the server end comprises a positioning server, the positioning server receives the position coordinates sent by the positioning base station and sends the position coordinates to the positioning equipment for eliminating errors, and the positioning server is in communication connection with the communication module.
2. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the carrier of the equipment end comprises but not limited to a shopping cart, a shopping basket, a shopping cloth bag, a hand ring, a mobile phone and a chest card with a positioning function.
3. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the inertial sensor module is provided with inertial measurement sensors, which include but are not limited to acceleration sensors, gyroscopes and magnetometers.
4. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the positioning equipment further comprises a first receiving module, a memory module and an ID module, wherein the first receiving unit is used for receiving the initial position coordinates of the equipment end, the memory module stores the initial position coordinates of the equipment end and uses the initial position coordinates as an initial calculation point of PDR reasoning, and the ID module is used for setting a unique ID number for the positioning equipment.
5. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the positioning equipment further comprises a second receiving module and a calibration module, the second receiving module receives the position coordinates calculated by the positioning base station and sent by the positioning server and transmits the position coordinates to the calibration module, and the calibration module calibrates the current initial dead reckoning point to eliminate accumulated errors.
6. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the positioning base station comprises an identification unit, an uploading unit and a calculation unit, wherein the identification unit is used for scanning the positioning label, the calculation unit receives a UWB signal sent by the positioning label, and adopts a TDOA positioning algorithm to carry out position analysis on the positioning equipment and give the initial position coordinate of the equipment end, and the uploading unit sends the initial position coordinate of the equipment end to the positioning server.
7. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the positioning server comprises a second receiving module, a third receiving module and a storage module, the second receiving module is used for being in communication connection with the positioning base station, the third receiving module is in communication connection with the communication module of the equipment end, and the storage module is used for temporarily storing and collating data sent by the positioning base station and the inertial sensor module.
8. A high accuracy positioning mall shopping guide system according to claim 1, wherein: the positioning software comprises a display module, an inquiry module and a fourth receiving module, wherein the display module displays the interior of a market by using a three-dimensional stereogram form, the inquiry module sends a positioning inquiry instruction to the positioning server, the positioning server acquires real-time position coordinates corresponding to the positioning equipment after receiving the positioning inquiry instruction, the fourth receiving module receives the real-time position coordinates sent by the positioning server, and the display module performs positioning conversion on the real-time position coordinates received by the fourth receiving module and displays the real-time position coordinates on a position corresponding to the three-dimensional stereogram in the display module.
9. The application method of the market shopping guide system with high precision positioning according to claim 1 is characterized by comprising the following steps:
s1, firstly, arranging a positioning base station at each entrance and each elevator entrance of a market;
s2, building and maintaining positioning software, drawing a three-dimensional map of the inside of a market by using the three-dimensional mapping software, and marking the position of the positioning base station on the three-dimensional map;
s3, enabling a traveling person to enter a range covered by a positioning base station at an entrance of a shopping mall with a carrier with positioning equipment for the first time, enabling the positioning label to emit UWB waves to the positioning base station, enabling the positioning base station to scan and receive the UWB waves, analyzing the position of the positioning label by adopting a TDOA (time difference of arrival) positioning algorithm, giving an initial position coordinate of an equipment end, and recording the initial position coordinate as S0(N0，E0) Sending the initial position coordinates and the ID numbers to a positioning server, and sending the initial position coordinates to positioning equipment of an equipment end corresponding to the ID numbers by the positioning server;
s4, after the traveling personnel continuously travel and leave the coverage area of the positioning base station, an inertial sensor module in the positioning equipment collects the acceleration, the angular velocity, the magnetic force and the pressure of the personnel in the traveling process, the data are utilized to calculate the step length and the direction of the traveling personnel, the initial position coordinate is used as an initial calculation point, and the position S of any time k is calculated according to a calculation formulaK(NK，EK)；
S5, the communication module coordinates S the position of the equipment terminal at the moment kK(NK，EK) And the ID number of the positioning software is uploaded to a positioning server, and the position of the equipment end at the moment k on the three-dimensional stereogram is synchronously displayed on the positioning software;
s6, using the position coordinate S of the equipment end at the moment kK(NK，EK) Substitution of S0(N0，E0) The calculation starting point is used as the calculation starting point of the position coordinate of the next moment, a new position coordinate is calculated, and the position of the equipment end at the new moment on the three-dimensional stereogram is synchronously displayed on the client;
s7, if the traveling personnel hold the equipment end to enter the range covered by another positioning base station in the traveling process, the positioning base station can recalculate the position coordinate S of the equipment endn(Nn，En) Positioning base station coordinates Sn(Nn，En) And the ID number of the equipment end is uploaded to a positioning server, and the positioning server transmits the position coordinate Sn(Nn，En) Sending the data to corresponding positioning equipment according to the position coordinates Sn(Nn，En) Calibrating the coordinates of the initial calculation point, and eliminating the accumulated error;
and S8, the traveling personnel check the real-time positioning information through the client.
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