CN112188616A - Indoor positioning method based on acoustic perception - Google Patents
Indoor positioning method based on acoustic perception Download PDFInfo
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- CN112188616A CN112188616A CN202011092368.7A CN202011092368A CN112188616A CN 112188616 A CN112188616 A CN 112188616A CN 202011092368 A CN202011092368 A CN 202011092368A CN 112188616 A CN112188616 A CN 112188616A
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- 230000008447 perception Effects 0.000 title claims description 9
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- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000005236 sound signal Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 11
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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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- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/28—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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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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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention discloses an indoor positioning method based on acoustic sensing. The sound generating equipment is used for sending sound signals at different positions, and the mobile phone receives and analyzes the sound signals so as to determine the current position of the mobile phone. The method mainly comprises the following steps: a loudspeaker in an intelligent sound production device such as an intelligent sound box sends out a frequency modulated continuous wave signal (FMCW), and meanwhile, a microphone of the intelligent mobile phone collects sound wave signals and analyzes and calculates the linear distance between the sound production device and the mobile phone. Then the sound production equipment moves the position in the same way for many times, and the device has the characteristics of convenience and quickness.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to an indoor positioning method based on acoustic sensing.
Background
With the rapid development of computer technology, artificial intelligence and other technologies, positioning technology has attracted much attention and has rapidly developed in recent years. Although outdoor positioning technology is well-developed and is beginning to be widely used, as the end of positioning technology, satellite positioning methods such as GPS are greatly limited indoors, and indoor positioning technology has been relatively slow to develop. With the rapid development of large-scale business circles, airports, stations and the like, the indoor positioning technology is used as a key technology of smart cities, and the prospect is very wide.
The current solutions to this problem are roughly the following:
the infrared ray is positioned by receiving the infrared ray emitted and modulated by each mobile device through the optical sensor arranged indoors, and the indoor positioning precision is relatively high. However, infrared rays can only be transmitted at a sight distance, so that the penetrability is extremely poor, the mark cannot normally work when being shielded, and the mark is extremely easily influenced by environmental factors such as lamplight and the like. In addition, the transmission distance of infrared rays is not long, so that receiving ends need to be arranged at the back of each shielding part or even at corners in the layout, the layout is complex, the cost is improved, and the effect is not good.
Wi-Fi, a device that triangulates more accurately through the strength of wireless signals from a mobile device and three wireless network access points, through methods such as TOA/TDOA/angle of arrival, etc. However, each position can be located only by scanning at least three strong Wi-Fi at the same time, so that it is difficult to ensure that all places have a large amount of Wi-Fi coverage, and signals are easily interfered. The other is a fingerprint positioning technology, in which the signal intensity of each determined position point is recorded in advance and stored in a fingerprint database, and when positioning is performed, the current signal characteristics are matched with those in the fingerprint database to determine the position. However, this method requires a large amount of data to be collected in each area to be located, and is costly in both time and space.
Bluetooth, a plurality of Bluetooth local area network access points installed indoors are utilized to maintain the network as a basic network connection mode based on multiple users, and the newly added blind nodes are triangulated by measuring the signal intensity. The Bluetooth technology is small in size, low in power consumption, easy to integrate in mobile devices such as mobile phones and the like, transmission is not affected by line of sight, but for a complex space environment, the stability of a Bluetooth system is poor, interference of noise signals is large, a large number of Bluetooth nodes need to be deployed, and the price is expensive.
Disclosure of Invention
In order to solve the defects of the technology and the method, the invention provides the indoor positioning method based on the acoustic sensing, which has low cost and good reliability, only needs one sound generating device and a device for changing the position of the sound generating device, and is easy to integrate in the broadcasting device in the public space.
The purpose of the invention is realized by the following technical scheme: an indoor positioning method based on acoustic perception, comprising the following steps:
and S1, importing the room map by the smart phone.
And S2, calibrating the clocks of the synchronous mobile phone and the sound production device.
And S3, enabling the loudspeaker of the sound generating device to emit the modulated sound wave signal with the specific frequency.
S4, collecting sound wave signals by a microphone of the smart phone, and calculating the linear distance between the sound production equipment and the smart phone. Judging the number of times of position change of the sound generating device, and if the number of times of position change of the sound generating device is less than 3, executing step S5; otherwise, step S6 is executed.
And S5, changing the position of the sound generating device until the position is changed more than 3 times and the result meets the precision requirement.
And S6, calculating the position of the indoor smart phone by using the plurality of distances between the sound generating device and the mobile phone, which are obtained by changing the position of the sound generating device for a plurality of times. Judging whether the calculation result meets the precision requirement, and if so, completing the indoor positioning of the smart phone; otherwise, step S5 is executed.
Further, in step S1, the smartphone imports room map information, where the indoor map is a vector map. A cartesian coordinate system may be established based on any point of the room, which may be represented by the coordinate system. In step S2, the clocks of the synchronous sound generating device and the smartphone need to be calibrated, and the method includes, but is not limited to, server unified calibration, error estimation, and the like. In step S3, the sound wave signal emitted from the speaker is a modulated sound wave signal with a certain frequency. The step S4 includes: and S41, calculating a straight line distance S = V x t between the sound generating device and the mobile phone, wherein V is the propagation speed of the sound in the air in the current state, and t is the propagation time of the sound from the sound generating device to the mobile phone. The frequency of data collected by a microphone of a smartphone is constant, and is usually more than twice the frequency of a sound wave signal emitted by a speaker. At least three circles are needed for indoor positioning to determine the unique point of intersection S42. As shown in fig. 2, if the sounding body moves less than three positions, the movement needs to be continued. In step S5, the method of changing the position may be, but is not limited to, an arc movement, a straight movement, a broken line movement, etc. The step S6 includes: and S61, obtaining the linear distance between the position of the sound generating equipment and the mobile phone each time by using the positions of the sound generating equipment for multiple times, and calculating the position of the indoor smart mobile phone by intersecting three circles or a plurality of circles with the linear distance between the sound generating equipment and the mobile phone as the radius at one point according to the position of the sound generating equipment as the center of a circle. S62, because of the existence of the measurement error, the linear distance measured each time has a certain error range, and there is a concentric circle corresponding to the light color around each circle in fig. 3. The position thus determined is a small area of the area. If the positioning accuracy is required to be high, the position of the sound generating device can be continuously changed, and the reduction of the positioning range is restrained by utilizing more circles to intersect.
The invention utilizes sound producing equipment such as an intelligent sound box and the like to send sound signals at different positions, and the mobile phone receives and analyzes the sound signals so as to determine the current position of the mobile phone. A loudspeaker in an intelligent sound production device such as an intelligent sound box sends out a frequency modulated continuous wave signal (FMCW), and meanwhile, a microphone of the intelligent mobile phone collects sound wave signals and analyzes and calculates the linear distance between the sound production device and the mobile phone. And then the sound generating equipment moves the position for multiple times in the same way, and the linear distance between the sound generating equipment and the mobile phone is calculated for multiple times, so that the indoor positioning of the smart phone is completed. Has the characteristics of convenience and quickness.
Drawings
Figure 1 a block diagram of the operation of the invention,
figure 2 is a schematic view of the displacement of the position,
figure 3 is a schematic view of a positioning method,
FIG. 4 is a schematic view of the positioning error range.
Detailed Description
An indoor positioning method based on acoustic perception, comprising the following steps:
and S1, importing the room map by the smart phone.
And S2, calibrating the clocks of the synchronous mobile phone and the sound production device.
And S3, enabling the loudspeaker of the sound generating device to emit the modulated sound wave signal with the specific frequency.
S4, collecting sound wave signals by a microphone of the smart phone, and calculating the linear distance between the sound production equipment and the smart phone. Judging the number of times of position change of the sound generating device, and if the number of times of position change of the sound generating device is less than 3, executing step S5; otherwise, step S6 is executed.
And S5, changing the position of the sound generating device until the position is changed more than 3 times and the result meets the precision requirement.
And S6, calculating the position of the indoor smart phone by using the plurality of distances between the sound generating device and the mobile phone, which are obtained by changing the position of the sound generating device for a plurality of times. Judging whether the calculation result meets the precision requirement, and if so, completing the indoor positioning of the smart phone; otherwise, step S5 is executed.
In step S1, the smartphone imports room map information, where the indoor map is a vector map. A cartesian coordinate system may be established based on any point of the room, which may be represented by the coordinate system.
In step S2, the clocks of the synchronous sound generating device and the smartphone need to be calibrated, and the method includes, but is not limited to, server unified calibration, error estimation, and the like.
In step S3, the sound wave signal emitted from the speaker is a modulated sound wave signal with a certain frequency.
The step S4 includes:
and S41, calculating a straight line distance S = V x t between the sound generating device and the mobile phone, wherein V is the propagation speed of the sound in the air in the current state, and t is the propagation time of the sound from the sound generating device to the mobile phone. The frequency of data collected by a microphone of a smartphone is constant, and is usually more than twice the frequency of a sound wave signal emitted by a speaker.
At least three circles are needed for indoor positioning to determine the unique point of intersection S42. As shown in fig. 2, if the sounding body moves less than three positions, the movement needs to be continued.
In step S5, the method for changing the position may be, but is not limited to, an arc movement, a straight movement, a broken line movement, etc., as shown in fig. 2.
The step S6 includes:
s61, obtaining a linear distance between the position of the sound generating device and the mobile phone each time by using the positions of the sound generating device moved many times, and calculating the position of the indoor smart phone by intersecting three or more circles at a point with the linear distance between the sound generating device and the mobile phone as a radius, as shown in fig. 3, with the position of the sound generating device as a center of a circle.
S62, because of the existence of the measurement error, the linear distance measured each time has a certain error range, and there is a concentric circle corresponding to the light color around each circle in fig. 3. The position thus determined is a small area of the area, as shown in fig. 4. If the positioning accuracy is required to be high, the position of the sound generating device can be continuously changed, and the reduction of the positioning range is restrained by utilizing more circles to intersect.
Claims (7)
1. An indoor positioning method based on acoustic perception, comprising the following steps:
s1, importing a room map by the smart phone;
s2, calibrating clocks of the synchronous mobile phone and the sound generating equipment;
s3, enabling the loudspeaker of the sound generating device to emit a modulated sound wave signal with a specific frequency;
s4, collecting sound wave signals by a microphone of the smart phone, calculating the linear distance between the sound production equipment and the smart phone,
judging the number of times of position change of the sound generating device, and if the number of times of position change of the sound generating device is less than 3, executing step S5; otherwise, executing step S6;
s5, changing the position of the sound generating equipment until the number of position changes is more than 3 and the result meets the precision requirement;
s6, calculating the position of the indoor smart phone by using a plurality of distances between the sound generating device and the smart phone obtained by changing the position of the sound generating device for a plurality of times, judging whether the calculation result meets the precision requirement, and completing indoor positioning of the smart phone if the calculation result meets the precision requirement; otherwise, step S5 is executed.
2. The indoor positioning method based on acoustic perception according to claim 1, wherein in step S1, the smart phone imports room map information, and the indoor map is a vector map; a cartesian coordinate system may be established based on any point of the room, which may be represented by the coordinate system.
3. The indoor positioning method based on acoustic perception according to claim 1, wherein in step S2, the clocks of the synchronous sound generating device and the smart phone need to be calibrated, and the method includes but is not limited to server uniform calibration, error estimation, and the like.
4. The method as claimed in claim 1, wherein in step S3, the sound wave signal emitted from the speaker is a modulated sound wave signal with a certain frequency.
5. The indoor positioning method based on acoustic perception according to claim 1, wherein the step S4 includes:
s41, calculating a straight-line distance S = V x t between the sound generating device and the mobile phone, wherein V is the propagation speed of the sound in the air in the current state, t is the propagation time of the sound from the sound generating device to the mobile phone,
the frequency of data collected by a microphone of the smart phone is certain, usually more than twice of the frequency of a sound wave signal sent by a loudspeaker,
and S42, indoor positioning needs at least three circles to determine the only point of intersection, and if the positions of the sounding body moving are less than three, the sounding body needs to continue moving.
6. The indoor positioning method based on acoustic sensing of claim 1, wherein in step S5, the method of changing position may be, but is not limited to, arc movement, linear movement, and polygonal movement.
7. The indoor positioning method based on acoustic perception according to claim 1, wherein the step S6 includes:
s61, obtaining a linear distance between the position of the sound generating device and the mobile phone each time by using the position of the sound generating device for multiple times, and intersecting three or more circles with the linear distance between the sound generating device and the mobile phone as a radius at a point according to the fact that the position of the sound generating device is used as a circle center, so that the position of the indoor smart mobile phone is calculated, S62, due to the existence of measurement errors, the measured linear distance has a certain error range each time, the obtained position is an area range with a small area, and the position of the sound generating device is continuously changed, so that the positioning range is restrained and narrowed by utilizing the intersection of more circles.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113589231A (en) * | 2021-07-09 | 2021-11-02 | 南京航空航天大学 | Multi-mobile-phone positioning method based on sound waves |
| WO2023047318A1 (en) * | 2021-09-24 | 2023-03-30 | International Business Machines Corporation | Measuring distance between two devices |
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| CN110568408A (en) * | 2019-08-31 | 2019-12-13 | 苏州普息导航技术有限公司 | Audio positioning system and method based on single signal source |
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Patent Citations (4)
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| EP2876458A1 (en) * | 2013-10-21 | 2015-05-27 | State Grid Corporation of China (SGCC) | Transformer substation multi-target accurate sound positioning system |
| CN104135749A (en) * | 2014-08-20 | 2014-11-05 | 河海大学常州校区 | Mobile beacon path planning method based on network density clustering of wireless sensor network |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113589231A (en) * | 2021-07-09 | 2021-11-02 | 南京航空航天大学 | Multi-mobile-phone positioning method based on sound waves |
| CN113589231B (en) * | 2021-07-09 | 2024-02-02 | 南京航空航天大学 | Multi-mobile phone positioning method based on sound waves |
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