CN112378407A - Indoor positioning method based on combination of smart phone sensor and sound wave positioning - Google Patents
Indoor positioning method based on combination of smart phone sensor and sound wave positioning Download PDFInfo
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- CN112378407A CN112378407A CN202011339662.3A CN202011339662A CN112378407A CN 112378407 A CN112378407 A CN 112378407A CN 202011339662 A CN202011339662 A CN 202011339662A CN 112378407 A CN112378407 A CN 112378407A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses an indoor positioning method based on the combination of a smart phone sensor and sound wave positioning, which comprises the steps of meshing an indoor space and establishing a corresponding coordinate system; acquiring a motion vector of a user through a built-in sensor on the smart phone, and estimating a walking path of the user; a voice module on the smart phone receives the sound signal transmitted by the transmitting device, analyzes the received sound signal and acquires the position information and the transmitting time of the transmitting device; acquiring the time difference between sending and receiving according to the time of receiving the sound signal, and calculating the distance between the smart phone and the transmitting device; continuously correcting a walking path of a user according to the distances between the positioning terminal and the plurality of transmitting devices and by combining the position information of the transmitting devices, finally acquiring real-time position information, and displaying the real-time position information on the smart phone; the invention obtains the motion vector through the sensor on the mobile phone, obtains the motion path, corrects the error by combining the sound wave positioning, and realizes the indoor positioning.
Description
The technical field is as follows:
the invention relates to the field of indoor positioning, in particular to an indoor positioning method based on the combination of a smart phone sensor and sound wave positioning.
Background art:
with the rapid development of urban modernization, the number of large buildings is increasing, and people spend more than 80% of the time indoors. The demand for indoor location services is rapidly increasing. Management of personnel and articles, navigation of firemen on a fire scene, intelligent transportation, airport personnel guiding, health auxiliary systems of the old, accurate marketing, social networks, virtual reality games and the like all need indoor positioning services. Therefore, the indoor positioning is realized accurately, reliably and in real time, and the method has very important scientific significance and social application value.
The indoor positioning technology has developed over the last few years to have a mature method theory, such as indoor positioning technologies based on infrared ray, Wi-Fi, Ultra Wide Band (UWB), Bluetooth, RFID, inertial navigation, and the like. There are still many problems to be solved for many commercial applications that require full coverage. For example, infrared positioning is susceptible to indoor lighting and is expensive to manufacture; the requirement on bottom hardware equipment required by the ultrasonic positioning method is high, and the cost is high; the technical difficulty of radio frequency identification positioning is that a theoretical propagation model is established, different theoretical propagation models need to be established in different indoor environments, and the expandability is not strong; the ultra-wideband positioning technology is greatly influenced by multipath effect, and the channel environment changes in an indoor environment easily cause large deviation of a ranging result. Future developments in indoor positioning research will target the realization of a high precision, stable, low cost, convenient and feasible positioning system.
At present, the popularization rate of the smart phone is very high, the smart phone is almost equivalent to a new organ of a person, is carried about, is provided with various sensors, and can be used for realizing the indoor positioning of the person by combining the characteristic with an indoor sound wave positioning technology. The current built-in sensor of the smart phone comprises a GPS, a BDS, WiFi, Bluetooth, an acceleration sensor, a microphone, an electronic compass, a magnetic strength sensor, a gyroscope, an inertial sensor, a gravity sensor and the like. The device has the advantages of reducing hardware requirements based on spread spectrum sound waves, being convenient to install and use, not influenced by light smoke, being intuitive in time information observation, being strong in anti-electromagnetic interference capability and the like.
The invention content is as follows:
the technical problem to be solved by the invention is as follows: the indoor positioning method based on the combination of the smart phone sensor and the sound wave positioning overcomes the defects of the prior art, obtains the motion vector of a user by using the built-in sensor on the smart phone, estimates the walking path of the user, and continuously corrects the generated error by combining the sound wave positioning technology, thereby realizing indoor high-precision positioning.
The technical scheme of the invention is as follows: an indoor positioning method based on combination of a smart phone sensor and sound wave positioning is characterized in that: step one, gridding an indoor space and establishing a corresponding coordinate system;
acquiring a motion vector of a user through a built-in sensor on the smart phone, and estimating a walking path of the user;
thirdly, a voice module on the smart phone receives the sound signal transmitted by the transmitting device, analyzes the received sound signal and acquires position information and transmitting time of the transmitting device;
step four, acquiring the time difference between the sound emitting signal and the sound receiving signal according to the time of receiving the sound signal, and then calculating the distance between the smart phone and the transmitting device;
and step five, continuously correcting the walking path of the user according to the distances between the positioning terminal and the plurality of transmitting devices and by combining the position information of the transmitting devices, and finally acquiring high-precision real-time position information and displaying the high-precision real-time position information on the smart phone.
Further, the method for acquiring the motion vector includes: the method comprises the steps of collecting data of walking steps, course and step length of a user by using an acceleration sensor and an electronic compass on the smart phone, sensing the up-down movement condition of the smart phone by using a gravity sensor, analyzing the data, and combining time information to obtain a motion vector of the smart phone.
Further, the path of the travel is calculated by a track estimation method.
Furthermore, the transmitting device performs spread spectrum modulation on the sound wave signal, and transmits the sound wave signal after fusing the position information of the transmitting device.
Furthermore, the intelligent mobile phone is provided with indoor positioning application (App) software based on an Android/IOS system, and sound wave signals are received by calling a microphone.
The invention has the beneficial effects that:
1. the invention obtains the motion vector of the user by using the built-in sensor on the smart phone, estimates the walking path of the user and continuously corrects the generated error by combining the positioning technology of sound waves, thereby realizing indoor high-precision positioning.
2. The method corrects the generated errors through the sound wave positioning technology, and solves the problem that the positioning errors are accumulated due to the fact that errors exist in the step number, the step length and the navigation obtained through the analysis of the sensor because the walking behavior of the user has randomness and variability, and the user position information calculated through the track presumption method is accumulated.
3. The invention utilizes the frequency bandwidth occupied by the spread signal to be far more than the minimum bandwidth required by the transmitted information, thereby ensuring the reliable transmission of the signal under the condition of low signal-to-noise ratio.
4. The pseudo-random code used for spread spectrum modulation has sharp autocorrelation characteristic, the signal delay time can be obtained and the signal anti-interference capability can be improved by adopting a correlation detection method, and secondly, the accuracy and the distance of ranging can be controlled by controlling the code element width and the signal frequency.
Description of the drawings:
fig. 1 is a flow chart of an indoor positioning system combining sound waves and bluetooth for a mobile intelligent terminal.
The specific implementation mode is as follows:
example (b): see fig. 1.
An indoor positioning method and a positioning system based on the combination of a smart phone sensor and sound wave positioning are provided, wherein the method comprises the steps of firstly, gridding an indoor space and establishing a corresponding coordinate system; acquiring a motion vector of a user through a built-in sensor on the smart phone, and estimating a walking path of the user; thirdly, a voice module on the smart phone receives the sound signal transmitted by the transmitting device, analyzes the received sound signal and acquires position information and transmitting time of the transmitting device; step four, acquiring the time difference between the sound emitting signal and the sound receiving signal according to the time of receiving the sound signal, and then calculating the distance between the smart phone and the transmitting device; step five, continuously correcting a walking path of a user according to the distances between the positioning terminal and the plurality of transmitting devices and by combining the position information of the transmitting devices, and finally acquiring high-precision real-time position information and displaying the high-precision real-time position information on the smart phone; the invention obtains the motion vector of the user by using the built-in sensor on the smart phone, estimates the walking path of the user and continuously corrects the generated error by combining the positioning technology of sound waves, thereby realizing indoor high-precision positioning.
The present application will be described in detail below with reference to the drawings and examples.
Step one, gridding an indoor space and establishing a corresponding coordinate system;
acquiring a motion vector of a user through a built-in sensor on the smart phone, and estimating a walking path of the user;
thirdly, a voice module on the smart phone receives the sound signal transmitted by the transmitting device, analyzes the received sound signal and acquires position information and transmitting time of the transmitting device;
step four, acquiring the time difference between the sound emitting signal and the sound receiving signal according to the time of receiving the sound signal, and then calculating the distance between the smart phone and the transmitting device;
and step five, continuously correcting the walking path of the user according to the distances between the positioning terminal and the plurality of transmitting devices and by combining the position information of the transmitting devices, and finally acquiring high-precision real-time position information and displaying the high-precision real-time position information on the smart phone.
The method for acquiring the motion vector comprises the following steps: the method comprises the steps of collecting data of walking steps, course and step length of a user by using an acceleration sensor and an electronic compass on the smart phone, sensing the up-down movement condition of the smart phone by using a gravity sensor, analyzing the data, and combining time information to obtain a motion vector of the smart phone.
The path of travel is calculated by a track estimation method. The transmitting device carries out spread spectrum modulation on the sound wave signal, and the sound wave signal is transmitted after the position information of the transmitting device is fused.
Indoor positioning application App software based on an Android/IOS system is installed in the smart phone, and sound wave signals are received by calling a microphone.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiment according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (5)
1. An indoor positioning method based on combination of a smart phone sensor and sound wave positioning is characterized in that: step one, gridding an indoor space and establishing a corresponding coordinate system;
acquiring a motion vector of a user through a built-in sensor on the smart phone, and estimating a walking path of the user;
thirdly, a voice module on the smart phone receives the sound signal transmitted by the transmitting device, analyzes the received sound signal and acquires position information and transmitting time of the transmitting device;
step four, acquiring the time difference between the sound emitting signal and the sound receiving signal according to the time of receiving the sound signal, and then calculating the distance between the smart phone and the transmitting device;
and step five, continuously correcting the walking path of the user according to the distances between the positioning terminal and the plurality of transmitting devices and by combining the position information of the transmitting devices, and finally acquiring high-precision real-time position information and displaying the high-precision real-time position information on the smart phone.
2. The indoor positioning method based on the combination of the smart phone sensor and the sound wave positioning as claimed in claim 1, wherein: the method for acquiring the motion vector comprises the following steps: the method comprises the steps of collecting data of walking steps, course and step length of a user by using an acceleration sensor and an electronic compass on the smart phone, sensing the up-down movement condition of the smart phone by using a gravity sensor, analyzing the data, and combining time information to obtain a motion vector of the smart phone.
3. The indoor positioning method based on the combination of the smart phone sensor and the sound wave positioning as claimed in claim 1, wherein: the path of the walking is calculated by a track presumption method.
4. The indoor positioning method based on the combination of the smart phone sensor and the sound wave positioning as claimed in claim 1, wherein: and the transmitting device carries out spread spectrum modulation on the sound wave signal, and transmits the sound wave signal after fusing the position information of the transmitting device.
5. The indoor positioning method based on the combination of the smart phone sensor and the sound wave positioning as claimed in claim 1, wherein: the intelligent mobile phone is provided with indoor positioning application (App) software based on an Android/IOS system, and sound wave signals are received by calling a microphone.
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| CN112924935A (en) * | 2021-02-25 | 2021-06-08 | 浙江大学 | Indoor positioning method and device of mobile intelligent terminal based on single sound wave base station |
| CN113207091A (en) * | 2021-04-06 | 2021-08-03 | Oppo广东移动通信有限公司 | Positioning method, intelligent wearable device and storage medium |
| CN114828211A (en) * | 2022-05-05 | 2022-07-29 | 浙江德清知路导航科技有限公司 | Audio positioning system, method and terminal for smart phone and wearable device |
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