CN112333817B - Space positioning system and method based on intelligent lamp pole - Google Patents
Space positioning system and method based on intelligent lamp pole Download PDFInfo
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Abstract
The invention discloses a space positioning system and a space positioning method based on a smart lamp post, which relate to the technical field of urban positioning application, wherein the system comprises a positioning management platform, convergence positioning nodes and auxiliary positioning nodes, the system adopts urban intensive lamp posts as positioning node carriers, and the step-by-step automatic background calibration of the position of the urban lamp post is completed through a node Bluetooth high-precision positioning technology and automatic information interaction among the positioning nodes; and on the other hand, the node after automatic positioning is adopted to monitor centimeter-level rapid positioning and track the position of the urban target by the Bluetooth signal of the urban moving target carrying the Bluetooth terminal nearby. The urban positioning management platform can accurately track and position urban moving targets carrying Bluetooth devices by means of the network, and compared with GPS positioning, the urban positioning management platform is higher in positioning speed and saves energy consumption.
Description
Technical Field
The invention relates to the technical field of urban positioning application, in particular to a space positioning system and method based on an intelligent lamp post.
Background
At present, the longitude and latitude information of a target is mostly acquired by the urban road target positioning in a GPS and AGPS mode and presented in a map, and the mode can be used for positioning an urban mobile target at a meter level precision.
The lamp posts are used as basic equipment of urban roads, the geographic positions and the uniform distribution of the lamp posts can be used as carriers for auxiliary positioning of cities, and the positions of target objects are determined by identifying the geographic specific position information of each lamp post on a map and then communicating the target objects with the specified lamp posts.
Patent number CN02112612.7, which is similar to the present invention, proposes a geographic positioning technology and device based on bluetooth, the positioning method utilizes the street lamp post micro-fixed target laid along the road in the city, and realizes the positioning of the moving target by integrating a bluetooth transceiver on the street lamp post, the main method is that the moving target object broadcasts its own information to the lamp post bluetooth transceiver in the range, after the lamp post bluetooth transceiver receives the information, the bluetooth transceiver sends the target object and the belonging information of the lamp post to the background to determine the position of the target object. The positioning mode can only accurately position the target object between the rods to the maximum extent, and the aim of accurate positioning cannot be achieved.
Patent No. CN201120503359.2, which is similar to the present invention, discloses a street lamp post GPS geographic positioning system, that is, a GPS signal receiving and processing device is installed on the post body of a street lamp post, and the location of the post body is located by GPS to manage and control the lighting device on the post body at the designated location, which still has the problem of positioning accuracy of the post body.
In addition, in the prior art, the position information of the pole body is generally input by operation and maintenance personnel to each lamp pole position through intelligent auxiliary equipment such as a mobile phone and the like to obtain rough position information of the pole body, and then the position is manually adjusted on a map to ensure the accuracy of the position, so that the input mode is low in efficiency and easy to make mistakes.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a space positioning system and a space positioning method based on an intelligent lamp post, so that the automatic and efficient input of the position information of a post body is realized.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a space positioning system based on an intelligent lamp post comprises a positioning management platform, a convergence positioning node and auxiliary positioning nodes, wherein the convergence positioning node is installed on a main rod body, and the auxiliary positioning nodes are installed on a plurality of slave rod bodies;
the positioning management platform is used for: calibrating and converging the position information of the lamp pole where the positioning node is located through a GIS map and using the position information as a positioning reference position; sending the configuration information carrying the position information to each aggregation positioning node, and calibrating the configuration information to a map according to the position information of the auxiliary positioning node reported by the aggregation positioning node;
the convergent positioning node is provided with a Bluetooth gateway and is used for: searching nearby Bluetooth signals, calculating the position information of the auxiliary positioning node according to the searched Bluetooth signals, and reporting the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and is used for: broadcasting and sending a Bluetooth signal carrying the ID of the user; and searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node.
On the basis of the technical scheme, the system further comprises a city moving target, wherein the city moving target is provided with a Bluetooth device and is used for: broadcasting and sending a Bluetooth signal carrying the ID of the user;
the auxiliary positioning node is further configured to: when receiving a Bluetooth signal of the urban moving target, calculating the position information of the urban moving target according to the Bluetooth signal and reporting the position information to the convergent positioning node;
the converged positioning node further configured to: and when receiving the Bluetooth signal of the urban moving target, calculating the position information of the urban moving target according to the Bluetooth signal and reporting to the positioning management platform.
On the basis of the technical scheme, the configuration information further comprises a feature code of the mobile target and a feature code of the auxiliary positioning node;
the converged positioning node further configured to: when receiving the Bluetooth signal, distinguishing whether the received Bluetooth signal is from an urban moving target or an auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node; when the position information of the auxiliary positioning node is calculated and returned to the auxiliary positioning node, the feature code of the moving target and the feature code of the auxiliary positioning node are returned to the auxiliary positioning node;
the auxiliary positioning node is further configured to: receiving a feature code of a moving target and a feature code of an auxiliary positioning node which are fed back by a convergent positioning node, and distinguishing whether the received Bluetooth signal is from an urban moving target or the auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node when the Bluetooth signal is received; and when the position information of other auxiliary positioning nodes is calculated and sent back to other auxiliary positioning nodes and the aggregation positioning node, the feature code of the mobile target and the feature code of the auxiliary positioning node are sent back to the auxiliary positioning node together.
On the basis of the technical scheme, the convergent positioning node comprises a convergent node processor unit, a convergent node Bluetooth positioning unit, an information convergent unit and a data return unit;
the sink node Bluetooth positioning unit acquires signals of other peripheral Bluetooth nodes and equipment through an array antenna of the sink node Bluetooth positioning unit, processes phase differences of the signals reaching each sub-antenna and transmits the processed phase differences to the processor unit through a serial communication interface of the sink node Bluetooth positioning unit;
the sink node processor unit determines the specific spatial positions of the peripheral Bluetooth nodes and the equipment through the information content transmitted by the Bluetooth positioning unit;
the node information aggregation unit returns the calculated position information of the adjacent node to the adjacent node, and receives the position information reported by other nodes in the communication range;
the data returning unit is used for carrying out information interaction with the positioning management platform.
On the basis of the technical scheme, the auxiliary positioning node comprises an auxiliary node processor unit, an auxiliary node Bluetooth positioning unit and a node information transmission unit;
the auxiliary node Bluetooth positioning unit acquires signals of other peripheral Bluetooth nodes and equipment through an array antenna of the auxiliary node Bluetooth positioning unit, and transmits the signals to the processor unit through a serial communication interface of the auxiliary node Bluetooth positioning unit after the signals reach phase differences of all sub-antennas and are processed;
the auxiliary node processor unit determines the specific spatial positions of the peripheral Bluetooth nodes and the equipment through the information content transmitted by the auxiliary node Bluetooth positioning unit;
the node information transmission unit is used for carrying out data communication with the information aggregation unit of the aggregation positioning node and transmitting positioning information back to the information aggregation unit.
The invention also provides a space positioning method adopting the space positioning system based on the intelligent lamp post, which comprises the following steps:
the positioning management platform calibrates and converges the position information of the lamp pole where the positioning node is located through a GIS map and takes the position information as a positioning reference position; sending the configuration information carrying the position information to each aggregation positioning node;
the aggregation positioning node is provided with a Bluetooth gateway, searches nearby Bluetooth signals, calculates the position information of the auxiliary positioning node according to the searched Bluetooth signals and reports the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and broadcasts and sends a Bluetooth signal carrying the ID of the auxiliary positioning node; searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node;
and the positioning management platform is calibrated into a map according to the position information of the auxiliary positioning node reported by the convergent positioning node.
On the basis of the technical scheme, the method further comprises the following steps:
the urban moving target is provided with a Bluetooth device and broadcasts and sends a Bluetooth signal carrying the ID of the urban moving target;
when the auxiliary positioning node receives the Bluetooth signal of the urban moving target, the position information of the urban moving target is calculated according to the Bluetooth signal and reported to the convergence positioning node;
and when the converged positioning node receives the Bluetooth signal of the urban moving target, the converged positioning node calculates the position information of the urban moving target according to the Bluetooth signal and reports the position information to the positioning management platform.
On the basis of the technical scheme, the configuration information further comprises a feature code of the mobile target and a feature code of the auxiliary positioning node;
when the converged positioning node receives the Bluetooth signal, distinguishing whether the received Bluetooth signal is from an urban moving target or an auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node; when the position information of the assistant positioning node is calculated and sent back to the assistant positioning node, the feature code of the moving target and the feature code of the assistant positioning node are sent back to the assistant positioning node together.
On the basis of the technical scheme, the auxiliary positioning node receives the feature code of the moving target and the feature code of the auxiliary positioning node which are fed back by the convergent positioning node, and when receiving the Bluetooth signal, the auxiliary positioning node distinguishes whether the received Bluetooth signal is from the urban moving target or the auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node.
On the basis of the technical scheme, when the auxiliary positioning node calculates the position information of other auxiliary positioning nodes and returns the position information to other auxiliary positioning nodes and the convergence positioning node, the feature code of the mobile target and the feature code of the auxiliary positioning node are returned to the auxiliary positioning node together.
Compared with the prior art, the invention has the advantages that:
the system comprises a positioning management platform, a convergence positioning node and an auxiliary positioning node, wherein the system adopts urban dense lamp posts as positioning node carriers, and finishes step-by-step automatic background calibration of the positions of the urban lamp posts through a node Bluetooth high-precision positioning technology and automatic information interaction among the positioning nodes; and on the other hand, the node after the automatic marking positioning is adopted to monitor centimeter-level rapid positioning and track the position of the urban target by the Bluetooth signal of the urban moving target carrying the Bluetooth terminal nearby. The urban positioning management platform can accurately track and position the urban moving target carrying the Bluetooth device by means of the network, and compared with GPS positioning, the positioning speed is higher, and energy consumption is saved.
Drawings
Fig. 1 is a schematic structural diagram of a smart light pole-based spatial positioning system according to an embodiment of the present invention;
fig. 2 is a block diagram of the intelligent lamp post hardware according to the embodiment of the invention;
fig. 3 is a schematic diagram illustrating a location calibration process between a convergence positioning node and a first auxiliary node according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a position calibration process of other assisted positioning nodes according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a city mobile target positioning communication flow according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware implementation of a converged positioning node communication control circuit according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware implementation of a communication control circuit of an assisting positioning node according to an embodiment of the present invention;
fig. 8 is a schematic view of a work flow of the smart light pole-based space positioning system according to the embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a space positioning system based on an intelligent lamp post, including a positioning management platform, a convergence positioning node installed on a master post body, and an auxiliary positioning node installed on a plurality of slave post bodies;
the positioning management platform is used for: calibrating and converging the position information of the lamp pole where the positioning node is located through a GIS map and using the position information as a positioning reference position; sending the configuration information carrying the position information to each aggregation positioning node, and calibrating the configuration information to a map according to the position information of the auxiliary positioning node reported by the aggregation positioning node;
the convergent positioning node is provided with a Bluetooth gateway and is used for: searching nearby Bluetooth signals, calculating the position information of the auxiliary positioning node according to the searched Bluetooth signals, and reporting the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and is used for: broadcasting and sending a Bluetooth signal carrying the ID of the user; and searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node.
Preferably, the bluetooth gateway and the bluetooth positioning device in the embodiment of the present invention both use bluetooth 5.1 technology.
Referring to fig. 2, the internal circuit of the convergence positioning node mainly includes a processor unit, a data returning unit, a node information converging unit, a bluetooth positioning unit, a power management unit, and antennas of each communication unit, the convergence node bluetooth positioning unit obtains signals of other bluetooth nodes and devices around through its own array antenna, the bluetooth positioning unit processes phase differences of signals arriving at each sub-antenna and transmits the processed signals to the processor unit through its own serial communication interface, the processor unit determines specific spatial positions of peripheral bluetooth nodes and devices according to information contents transmitted by the bluetooth positioning unit, the node information converging unit is another data communication channel between the lamp post convergence node and an auxiliary positioning node, the node converging unit can return calculated position information of the adjacent node to the adjacent node on one hand and receive position reporting information of other nodes in a communication range on the other hand, the data returning unit is used for carrying out information interaction with the rear-end positioning management platform, and the power supply management unit is used for providing power supplies for the processor and each communication module.
The auxiliary positioning node internal circuit mainly comprises a processor unit, a node information transmission unit, a Bluetooth positioning unit, a power management unit and each communication unit antenna, wherein the auxiliary node Bluetooth positioning unit acquires signals of other peripheral Bluetooth nodes and equipment through an array antenna of the auxiliary node Bluetooth positioning unit, the Bluetooth positioning unit transmits phase differences of the signals reaching each sub-antenna to the processor unit through a serial communication interface of the auxiliary node Bluetooth positioning unit after processing, the processor unit determines specific spatial positions of the peripheral Bluetooth nodes and the equipment according to information content transmitted by the Bluetooth positioning unit and angles of the antennas, the node information transmission unit is used for carrying out data communication with the sink node information sink unit and transmitting positioning information back to the node sink unit, and the power management unit is used for providing power voltages required by the other units.
The positioning management platform can receive positioning information of all nodes reported by the sink nodes and accurately mark longitude and latitude information of the intelligent lamp pole nodes or urban targets on the background GIS map. The positioning management platform can issue the relevant configuration information to each aggregation node.
As shown in fig. 3, the specific geographical location construction process of the converged positioning node and the first auxiliary positioning node is as follows:
step 101: the positioning management platform calibrates the accurate position of the lamp pole where the convergence positioning node is located through a GIS map, and feeds back the position information to the convergence positioning node through a mobile network or a wired network, and the convergence positioning node position calibration is completed.
Step 102: bluetooth broadcast sending self ID of first auxiliary positioning node adjacent to lamp pole and located at convergence positioning node
Step 103: and the on-off of the multiple Bluetooth antennas of the convergence positioning node calculates the specific position information of the first auxiliary positioning node according to the arrival angle of the Bluetooth signal of the first auxiliary positioning node and sends the specific position information back to the first auxiliary positioning node.
Step 104: the convergence positioning node reports the specific position information of the lamp pole where the first auxiliary node is located to the positioning management platform, and the positioning management platform calibrates the specific position information to the GIS map.
As shown in fig. 4, the construction process of the specific geographic location of other assisted positioning nodes is as follows:
step 201: the auxiliary positioning node B which does not mark the position information broadcasts the ID information of the auxiliary positioning node B through Bluetooth;
step 202: if the previous-stage assistant positioning node a of the assistant positioning node B has a calibrated position in step 201, the assistant positioning node calculates specific position information of the assistant positioning node B by combining its own position and the bluetooth signal arrival angle of the assistant positioning node B, and returns the specific position information to the assistant positioning node B;
step 203: and the auxiliary positioning node B returns the position information of the auxiliary positioning node B to the convergence positioning node through the information transmission unit.
Step 204: the convergent positioning node sends the position information of the auxiliary positioning node B to the positioning management platform through the mobile return unit, and the positioning management platform calibrates the position information to the GIS map.
As shown in fig. 5, the positioning communication flow of the urban moving target is as follows:
step 301: the city moving target broadcasts information to nearby convergent nodes or auxiliary positioning nodes through a Bluetooth terminal of the city moving target.
Step 302: if the convergent positioning node receives the transmission signal of the urban moving target, the convergent positioning node directly calculates the spatial position information of the urban moving target through the signal and obtains the geographical position information of the urban moving target by combining the geographical position information of the convergent positioning node with the signal, if the auxiliary positioning node receives the transmission signal of the urban moving target, the auxiliary positioning node directly calculates the spatial position information of the urban moving target through the signal and obtains the geographical position information of the urban moving target by combining the geographical position information of the auxiliary positioning node with the signal, and the auxiliary positioning node sends the position information of the urban moving target to the convergent positioning node through the information transmission unit.
Step 303: and the convergent positioning node sends back the geographic position information of the urban moving target to the positioning management platform through the mobile transmission unit.
As shown in fig. 6 and 7, for the specific implementation of the communication control circuit of the converged positioning node and the auxiliary positioning node, the same circuit structure is used for the bluetooth 5.1 communication part of the converged positioning node and the auxiliary positioning node, the node uses the on-chip microprocessor NRF52811 with the bluetooth 5.1 direction-finding function, the ANT pin of the NRF52811 on the bluetooth communication link is connected with the INPUT pin of a one-to-two rf switch SKY13323 through the rf matching circuit, the two OUTPUT pins of the SKY13323 are respectively connected with the INPUT pins of two-to-three rf switches SKY13408, the three OUTPUT pins of the two SKYs 13408 are respectively connected with six different-phase sub-antennas of a PCB antenna array, the antenna switching control uses three general INPUT/OUTPUT (GPIO) pins of the NRF52811, wherein GPIO1, 2, 3 of the NRF52811 are respectively connected with a1, a2, A3 of a decoder chip 74LS138, the three general INPUT/OUTPUT pins of the NRF52811 are respectively connected with the rf switch 1348 of the SKY switch and the rf switch 13408, and three GPIO pins of the NRF52811 control three radio frequency switches to be switched so as to realize polling on and off of 6 sub-antennas.
And the data interaction between the convergence positioning node and the auxiliary positioning node uses a LORA communication mode.
The on-chip microprocessing system NRF52811 of the convergent positioning node is butted with a synchronous communication Serial Port (SPI) of an LORA baseband processing chip SX1301 through the synchronous communication Serial Port (SPI), two groups of orthogonal data receiving pins of the SX1301 are respectively connected with orthogonal signal INPUT pins of two LORA radio frequency receiving and transmitting chips SX1257, one group of orthogonal data sending pins of the SX1301 is connected with an orthogonal signal output pin of one of the LORA radio frequency receiving and transmitting chips SX1257, radio frequency receiving ends of the two SX1257 are connected with an INPUT pin of a radio frequency switch RFSW1012 through a power distribution and low noise amplifying circuit, a radio frequency differential output pin of one of the SX1257 is connected with the other INPUT pin of the radio frequency switch RFSW1012 through a radio frequency matching circuit and a power amplifying circuit, and a radio frequency common end of the RFSW1012 is connected with an LORA antenna. The transceiving conversion of the convergent positioning node is realized by a CTRL pin of a radio frequency switch RFSW1012 controlled by a GPIO4 pin of an on-chip micro-processing system NRF 52811.
The on-chip microprocessing system NRF52811 of the auxiliary positioning node is connected with a synchronous communication Serial Port (SPI) pin of an LORA transceiving chip SX1278 through a synchronous communication Serial Port (SPI), a radio frequency offset and output pin of the SX1278 is connected with an INPUT pin of a radio frequency switch PE4259 through an offset and transmission matching circuit, a radio frequency INPUT pin of the SX1278 is connected with the other INPUT pin of the radio frequency switch PE4259 through a receiving matching network, a radio frequency public end of the radio frequency switch is connected with an LORA antenna, and the transceiving conversion of the auxiliary positioning node is realized by controlling a CTRL pin of the radio frequency switch PE4259 through a GPIO4 pin of the on-chip microprocessing system NRF 52811.
The data communication between the convergence positioning node and the positioning management platform is realized through a 4G module EC20, the on-chip microprocessing system NRF52811 of the convergence positioning node is connected with a serial port pin of the 4G communication module through an asynchronous communication serial port UART, and the 4G module finishes the receiving and sending of radio frequency signals through a rod-shaped 4G antenna.
The embodiment of the invention also provides a space positioning method adopting the space positioning system based on the intelligent lamp post, which comprises the following steps:
the positioning management platform calibrates and converges the position information of the lamp pole where the positioning node is located through a GIS map and takes the position information as a positioning reference position; sending the configuration information carrying the position information to each aggregation positioning node;
the aggregation positioning node is provided with a Bluetooth gateway, searches nearby Bluetooth signals, calculates the position information of the auxiliary positioning node according to the searched Bluetooth signals and reports the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and broadcasts and sends a Bluetooth signal carrying the ID of the auxiliary positioning node; searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node;
and the positioning management platform is calibrated into a map according to the position information of the auxiliary positioning node reported by the convergent positioning node.
As shown in fig. 8, an embodiment of the present invention provides a specific spatial positioning method for an urban positioning system based on a smart lamp post, the method comprising the following steps:
step 1: and after the lamp pole convergence positioning node is powered on, hardware of the lamp pole convergence positioning node is initialized and enters a pre-configuration mode. In the pre-configuration mode, the sink node is always in the state of monitoring the configuration information issued by the platform, and if the sink node receives the platform configuration information, the sink node switches to the step 2 for execution; after the auxiliary positioning node of the lamp post is electrified and initialized, firstly judging whether a position initialization mark is set or not, if not, turning to the step 2 for execution, and if so, skipping to the step 3 for execution;
step 2: the convergence positioning node analyzes the content of the configuration information and extracts longitude and latitude information of the convergence positioning node, a feature code of a moving target and a feature identification code of the auxiliary positioning node from the configuration information; the auxiliary positioning node Bluetooth channel works in a Bluetooth broadcasting mode and externally broadcasts the ID and signals of the auxiliary positioning node, the information transmission unit works in a receiving and monitoring mode, and the auxiliary positioning node skips to the step 3 to execute when receiving the associated data packet;
and 3, step 3: when the sink location node Bluetooth channel enters a Bluetooth searching mode, the sink location node sink unit operates in a receiving mode, and the sink location node Bluetooth channel searches nearby Bluetooth targets, the sink node records the phase value of each sub-antenna when the signal reaches and analyzes the information frame of the Bluetooth target, the sink node compares the ID content in the information frame with the node ID feature code, when the ID of the information content is in accordance with the ID feature code of the auxiliary positioning node, the auxiliary node broadcast content of other lamp poles is judged to be searched, the convergent node jumps to step 4 to execute, when the ID of the information content is in accordance with the feature code of the urban moving target, the urban moving target is judged to be searched, the step 7 is skipped to execute, and the step 8 is skipped to execute when the convergent node convergence unit receives the self-position information of the auxiliary node or the urban moving target information sent by the auxiliary positioning node; the auxiliary positioning node analyzes the associated information packet content, longitude and latitude information in the information packet content is used as geographical position information of the auxiliary positioning node, the auxiliary positioning node records feature codes in the information packet as a subsequent target judgment basis and sets a positioning mark of the auxiliary positioning node, and the auxiliary positioning node switches to the step 5 for execution;
and 4, step 4: the sink node calculates the specific spatial relative position information of the auxiliary node by using the AOA algorithm through each phase value recorded in the step 3, judges whether the relative position of the node is smaller than a distance threshold value which can be accurately calculated, if so, the sink node calculates the actual longitude and latitude information of the auxiliary node by combining the longitude and latitude information of the sink node and the calculated phase position information and associates the actual longitude and latitude information with the received ID information and the feature identification code of the auxiliary node to form a group, and the sink node sends the associated information packet to an auxiliary positioning node and a positioning management platform through an information sink unit and skips to the step 3 to execute the operation;
and 5: the auxiliary positioning node Bluetooth channel exits the broadcasting mode and enters a node searching mode, when a nearby Bluetooth target is searched, the auxiliary positioning node records a phase value of a signal reaching each sub-antenna and analyzes an information frame of the Bluetooth target, the auxiliary positioning node judges the target according to the feature code, if the feature accords with the feature of the urban moving target, the step 6 is carried out, and if the feature accords with the feature of the auxiliary positioning node, the step 7 is carried out;
step 6: the auxiliary positioning node analyzes the received spatial position information of the node through an AOA algorithm, judges whether the effective distance is positioned or not through a spatial position value, if so, the auxiliary positioning node calculates the actual longitude and latitude information of the node by combining the longitude and latitude information of the auxiliary positioning node and the spatial position information of the node, and sends the position information, the characteristic identification code and the ID association group package to the auxiliary positioning node and the sink node through an information transmission unit respectively;
and 7: after searching a legal urban moving target, the sink node analyzes the spatial position information of the node through an AOA algorithm, calculates the actual geographical position information of the target according to the geographical position information of the sink node and the spatial position information of the target, and associates and packages the node ID, the target node ID and the target position information and reports the information to a positioning management platform through an information transmission unit; after searching the urban moving target which accords with the feature code, the auxiliary positioning node analyzes the spatial position information of the node through an AOA algorithm and calculates the actual geographic position of the target through the longitude and latitude information and the relative position information of the auxiliary positioning node, and the auxiliary positioning node performs associated grouping on the ID, the target ID and the position information of the auxiliary positioning node and reports the group to the sink node through an information transmission unit;
and step 8: and (3) directly reporting the content to the positioning management platform after the sink node receives the data content sent by the auxiliary positioning node, and skipping to the step (3) by the sink node for execution.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and 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 (4)
1. A space positioning system based on an intelligent lamp post is characterized by comprising a positioning management platform, a convergence positioning node and auxiliary positioning nodes, wherein the convergence positioning node is installed on a main rod body, and the auxiliary positioning nodes are installed on a plurality of slave rod bodies;
the location management platform is configured to: calibrating and converging the position information of the lamp pole where the positioning node is located through a GIS map and using the position information as a positioning reference position; configuration information carrying the position information is sent to each convergent positioning node, and the position information of the auxiliary positioning node reported by the convergent positioning node is calibrated into a map;
the convergent positioning node is provided with a Bluetooth gateway and is used for: searching nearby Bluetooth signals, calculating the position information of the auxiliary positioning node according to the searched Bluetooth signals, and reporting the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and is used for: broadcasting and sending a Bluetooth signal carrying the ID of the user; searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node;
the system also includes a city moving target, the city moving target is provided with a Bluetooth device, which is used for: broadcasting and sending a Bluetooth signal carrying the ID of the user;
the secondary positioning node is further configured to: when receiving a Bluetooth signal of the urban moving target, calculating the position information of the urban moving target according to the Bluetooth signal and reporting the position information to the convergent positioning node;
the converged positioning node is further configured to: when receiving a Bluetooth signal of the urban moving target, calculating the position information of the urban moving target according to the Bluetooth signal and reporting to a positioning management platform;
the configuration information also comprises a feature code of the mobile target and a feature code of the auxiliary positioning node;
the converged positioning node is further configured to: when receiving the Bluetooth signal, distinguishing whether the received Bluetooth signal is from an urban moving target or an auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node; when the position information of the auxiliary positioning node is calculated and returned to the auxiliary positioning node, the feature code of the moving target and the feature code of the auxiliary positioning node are returned to the auxiliary positioning node;
the secondary positioning node is further configured to: receiving a feature code of a moving target and a feature code of an auxiliary positioning node which are fed back by a convergence positioning node, and distinguishing whether a received Bluetooth signal is from an urban moving target or the auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node when the Bluetooth signal is received; and when the position information of other auxiliary positioning nodes is calculated and returned to other auxiliary positioning nodes and the convergent positioning node, returning the feature code of the moving target and the feature code of the auxiliary positioning node to the auxiliary positioning node together.
2. The system according to claim 1, wherein the converged positioning node comprises a converged node processor unit, a converged node bluetooth positioning unit, an information converged unit, and a data backhaul unit;
the sink node Bluetooth positioning unit acquires signals of other peripheral Bluetooth nodes and equipment through an array antenna of the sink node Bluetooth positioning unit, processes phase differences of the signals reaching each sub-antenna and transmits the processed phase differences to the processor unit through a serial communication interface of the sink node Bluetooth positioning unit;
the sink node processor unit determines the specific spatial positions of the peripheral Bluetooth nodes and the equipment through the information content transmitted by the Bluetooth positioning unit;
the node information aggregation unit returns the calculated position information of the adjacent node to the adjacent node, and receives the position information reported by other nodes in the communication range;
the data returning unit is used for carrying out information interaction with the positioning management platform.
3. The system of claim 1 wherein said auxiliary positioning node comprises an auxiliary node processor unit, an auxiliary node bluetooth positioning unit, and a node information transmission unit;
the auxiliary node Bluetooth positioning unit acquires signals of other peripheral Bluetooth nodes and equipment through an array antenna of the auxiliary node Bluetooth positioning unit, processes phase differences of the signals reaching each sub-antenna and transmits the processed phase differences to the processor unit through a serial communication interface of the auxiliary node Bluetooth positioning unit;
the auxiliary node processor unit determines the specific spatial positions of peripheral Bluetooth nodes and equipment according to the information content transmitted by the auxiliary node Bluetooth positioning unit;
the node information transmission unit is used for carrying out data communication with the information aggregation unit of the aggregation positioning node and transmitting positioning information back to the information aggregation unit.
4. A spatial orientation method using the smart light pole-based spatial orientation system of claim 1, comprising the steps of:
the positioning management platform calibrates and converges the position information of the lamp pole where the positioning node is located through a GIS map and takes the position information as a positioning reference position; sending the configuration information carrying the position information to each convergence positioning node;
the aggregation positioning node is provided with a Bluetooth gateway, searches nearby Bluetooth signals, calculates the position information of the auxiliary positioning node according to the searched Bluetooth signals and reports the position information to a positioning management platform;
the auxiliary positioning node is provided with a Bluetooth positioning device and broadcasts and sends a Bluetooth signal carrying the ID of the auxiliary positioning node; searching nearby Bluetooth signals, calculating the position information of other auxiliary positioning nodes according to the Bluetooth signals, and returning the position information to other auxiliary positioning nodes and the convergence positioning node;
the positioning management platform is calibrated into a map according to the position information of the auxiliary positioning node reported by the convergent positioning node;
the method further comprises the steps of:
the urban moving target is provided with a Bluetooth device and broadcasts and sends a Bluetooth signal carrying the ID of the urban moving target;
when the auxiliary positioning node receives the Bluetooth signal of the urban moving target, the position information of the urban moving target is calculated according to the Bluetooth signal and reported to the convergent positioning node;
when the convergent positioning node receives a Bluetooth signal of the urban moving target, calculating the position information of the urban moving target according to the Bluetooth signal and reporting the position information to a positioning management platform;
the configuration information also comprises a feature code of the mobile target and a feature code of the auxiliary positioning node;
when the converged positioning node receives the Bluetooth signal, distinguishing whether the received Bluetooth signal is from an urban moving target or an auxiliary positioning node through the feature code of the moving target and the feature code of the auxiliary positioning node; when the position information of the auxiliary positioning node is calculated and returned to the auxiliary positioning node, the feature code of the moving target and the feature code of the auxiliary positioning node are returned to the auxiliary positioning node together;
the auxiliary positioning node receives the feature code of the moving target and the feature code of the auxiliary positioning node fed back by the convergent positioning node, and when a Bluetooth signal is received, whether the received Bluetooth signal is from the urban moving target or the auxiliary positioning node is distinguished through the feature code of the moving target and the feature code of the auxiliary positioning node;
and when the auxiliary positioning node calculates the position information of other auxiliary positioning nodes and returns the position information to other auxiliary positioning nodes and the convergence positioning node, the feature code of the moving target and the feature code of the auxiliary positioning node are returned to the auxiliary positioning node together.
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| CN107251624B (en) * | 2015-02-23 | 2021-03-02 | 飞利浦灯具控股公司 | Location determination of mobile devices |
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