CN112444247B - Indoor positioning method and system based on matrix transformation - Google Patents
Indoor positioning method and system based on matrix transformation Download PDFInfo
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- CN112444247B CN112444247B CN202011302480.9A CN202011302480A CN112444247B CN 112444247 B CN112444247 B CN 112444247B CN 202011302480 A CN202011302480 A CN 202011302480A CN 112444247 B CN112444247 B CN 112444247B
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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
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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 application relates to the technical field of indoor positioning, in particular to an indoor positioning method and system based on matrix transformation, wherein a plurality of marking points of positions are set on an indoor map at a server side; collecting positioning information of the intelligent equipment, uploading a coordinate system of the inertial navigation equipment in the intelligent equipment to a server, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server through matrix transformation, and marking inertial navigation positioning points on an indoor map according to the map coordinate system; detecting whether the intelligent device is positioned at a marking point or not through a plurality of Bluetooth beacons arranged indoors, and correcting the marking point for inertial navigation; if the intelligent device is detected to charge at the indoor fixed point position and the intelligent device is detected to be operated by a user, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, correcting the inertial navigation positioning point to be the indoor charged fixed point position. The problem that satellite signal is weak under the indoor environment, positioning accuracy is low has been solved to this scheme.
Description
Technical Field
The application relates to the technical field of indoor positioning, in particular to an indoor positioning method and system based on matrix transformation.
Background
The satellite positioning system is a technology for accurately positioning something by using satellites, and is developed to the current high-precision GPS global positioning system from the original low-precision positioning, incapability of positioning in real time and difficulty in providing timely navigation service, so that 4 satellites can be observed at any time and at any point on the earth at the same time, and the functions of navigation, positioning, time service and the like are realized. Satellite positioning can be used to guide aircraft, vessels, vehicles, and individuals, safely and accurately along a selected route, on-time to a destination, and can also be used in cell-phone tracking and the like.
However, in an indoor environment, satellite signals are too weak, and inaccurate positioning often occurs, so that when the indoor environment cannot use satellite positioning, an indoor positioning technology is used as auxiliary positioning of satellite positioning, and the problem that the satellite signals cannot penetrate a building is solved.
Thus, a matrix-based indoor positioning method and system that can solve the above problems is now continued.
Disclosure of Invention
The application aims to solve the problems of weak satellite signals and low positioning accuracy in an indoor environment.
The application provides an indoor positioning method based on matrix transformation, which comprises the following steps:
s1, setting a plurality of marking points at positions on an indoor map at a server side;
s2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of the inertial navigation equipment in the intelligent equipment to a server, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server through matrix transformation, and marking inertial navigation positioning points on an indoor map according to the map coordinate system;
s3, detecting whether the intelligent device is located at a mark point or not through a plurality of Bluetooth beacons arranged indoors, if so, judging whether the mark point where the intelligent device is located is consistent with an inertial navigation positioning point or not through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the position of the mark point;
s4, if the intelligent equipment is detected to charge at the indoor fixed point position, and the intelligent equipment is detected to be operated by a user, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, correcting the inertial navigation positioning point to be the indoor charged fixed point position.
Compared with the prior art, the scheme has the advantages that: 1. under indoor environment, satellite signals cannot penetrate a building and positioning is inaccurate, so that the scheme adopts inertial navigation to perform indoor positioning so as to solve the problem of inaccurate indoor satellite positioning, but errors can occur in the use process of the inertial navigation, errors which occur each time can be accumulated, and the errors can be only small deviation, so that the influence on positioning accuracy is small, but errors are accumulated each time, and the inertial navigation positioning is inaccurate, so that the scheme assists mark point positioning and user operation identification positioning to correct the accumulated errors of the inertial navigation on the basis of the inertial navigation, a new indoor positioning method is formed, and the problems of weak satellite signals and low positioning accuracy in the indoor environment are solved.
2. The marking point positioning is to set a plurality of marking points at positions on an indoor map at a server side, detect whether the intelligent equipment is positioned at the marking points through Bluetooth positioning, if so, judge whether the marking points at which the intelligent equipment is positioned are consistent with the inertial navigation positioning points or not through Bluetooth positioning, and if not, correct the inertial navigation positioning points to be the marking point positions. The tag point location requires more than 3 bluetooth beacons to be set in the room. However, the transmission distance of bluetooth is limited, and the transmission of bluetooth signals is blocked by obstacles, so that a plurality of bluetooth beacons are required to be set for positioning the marker points under the conditions of large indoor environment and many rooms, thereby increasing the cost. Therefore, by means of the fact that a plurality of charging sockets and intelligent equipment are arranged in each room, whether the charging sockets are connected with the intelligent equipment or not and whether a user is operating the intelligent equipment or not can be automatically tested, user operation, identification and positioning are conducted, and accumulated errors of inertial navigation are corrected.
Further, the indoor positioning method further includes: s5, judging and switching the indoor/outdoor positioning mode according to the intensity of the satellite positioning signals, switching to the outdoor positioning mode when the intensity of the satellite positioning signals is higher than a set threshold value, positioning according to the satellite positioning signals by the intelligent equipment, switching to the indoor positioning mode when the intensity of the satellite positioning signals is lower than the set threshold value, and positioning according to the built-in inertial navigation equipment by the intelligent equipment.
The beneficial effects are that: the indoor/outdoor positioning mode is switched according to the strength of the satellite positioning signals, so that the current positioning mode of a user is guaranteed to be the most accurate positioning mode, for example, the satellite positioning can meet the requirement of accurate positioning in some indoor environments, and the positioning mode does not need to be switched.
Further, in the step S5, when the satellite positioning of the intelligent device fails to continuously position within a specified time interval, or the intensity of the received satellite positioning signal is lower than a set threshold, the satellite positioning signal is automatically switched to the inertial navigation device positioning; when the current position of the inertial navigation device is more than a specified threshold from the initialized position, and the strength of satellite positioning signals at the application program end of the intelligent device reaches the minimum threshold requirement, the intelligent device is automatically switched to satellite positioning.
The beneficial effects are that: the switching of the positioning mode is not only based on the judgment of the strength of satellite signals, so that the continuous positioning failure in a specified time interval and the distance from an initialized position exceeding a specified threshold value are increased, and the sensitivity and accuracy of automatic switching of the positioning mode are improved.
Further, counting the times of charging the intelligent device at the indoor fixed point position and detecting the intelligent device operated by the user, dividing the times by the times of charging the intelligent device at the indoor fixed point position regularly to obtain an operation probability value, comparing the operation probability value with a preset operation probability threshold, and if the operation probability value is lower than the operation probability threshold, sending out carrying prompt information to the user.
The beneficial effects are that: through calculating the operation probability value in a certain time period, the use degree of the intelligent equipment by the user can be simply judged, under the condition that the intelligent equipment is a mobile phone, whether the user frequently forgets to take the mobile phone or not can be simply predicted through the use degree of the mobile phone by the user, and the user who possibly enters the field and forgets to take the mobile phone is reminded.
Further, the indoor/outdoor positioning mode can be directly switched by the intelligent device.
The beneficial effects are that: the indoor/outdoor positioning mode can be directly switched by the application program of the intelligent equipment, and a user can switch the positioning mode according to random, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.
The application provides an indoor positioning system based on matrix transformation, which comprises a server, a setting module, an inertial navigation module, a Bluetooth positioning module, a satellite positioning module and a user operation identification module, wherein the server is used for receiving a signal from a user;
the server can be connected with the intelligent equipment, an indoor map is stored in the server, and the server converts a coordinate system of the inertial navigation equipment into a map coordinate system through matrix transformation;
the setting module is used for setting a plurality of mark points for an indoor map at a server side, setting a threshold value for judging the intensity of satellite positioning signals, and setting a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value;
the inertial navigation module is used for inertial navigation of the intelligent equipment;
the Bluetooth positioning module is used for detecting whether the intelligent equipment is located at the mark point, judging whether the mark point where the intelligent equipment is located is consistent with the inertial navigation positioning point or not through Bluetooth positioning, and correcting the inertial navigation positioning point to be the position of the mark point if the mark point is inconsistent with the inertial navigation positioning point;
the satellite positioning module is used for satellite positioning of the intelligent equipment;
the user operation identification module is used for identifying whether the intelligent device charges at the indoor fixed point position or not, detecting whether the user is operating the intelligent device or not, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position or not if the intelligent device charges at the indoor fixed point position and detecting that the user is operating the intelligent device, and correcting the inertial navigation positioning point to be the indoor charged fixed point position if the inertial navigation positioning point is inconsistent with the indoor charged fixed point position.
Compared with the prior art, the scheme has the advantages that: by means of inertial navigation technology, the accumulated errors of inertial navigation are corrected by auxiliary mark point positioning and user operation identification positioning, and indoor positioning and satellite positioning are combined, so that a new indoor positioning mode is realized, and the problems of weak satellite signals and low positioning accuracy in an indoor environment are solved. The mark point positioning and the user operation identification positioning are used for correcting the error of inertial navigation together, and compared with the method for correcting the error of inertial navigation by only adopting the mark point positioning, the method has a better error correction effect.
Further, the indoor positioning system further comprises a detection module, wherein the detection module is used for detecting the intensity of satellite positioning signals, judging and switching the indoor/outdoor positioning mode according to the intensity of the satellite positioning signals, switching to the outdoor positioning mode when the positioning accuracy of the satellite positioning signals is higher than a set threshold value, and switching to the indoor positioning mode when the positioning accuracy of the satellite positioning signals is lower than the set threshold value, wherein the intelligent equipment performs positioning according to the built-in inertial navigation equipment.
The beneficial effects are that: the detection module is used for detecting the intensity of the satellite positioning signals, and the indoor/outdoor positioning mode is switched according to the intensity of the satellite positioning signals, so that the current positioning mode of a user is guaranteed to be the most accurate positioning mode.
Further, after the detection module detects that the satellite positioning of the intelligent equipment fails to be continuously positioned within a specified time interval or the intensity of a received satellite positioning signal is lower than a set threshold value, the intelligent equipment is automatically switched to inertial navigation equipment positioning;
the detection module detects satellite positioning which is automatically switched when the current position of the inertial navigation device, the distance from the initial position exceeds a specified threshold value and the strength of satellite positioning signals at the application program end of the intelligent device reaches the minimum threshold value requirement.
The beneficial effects are that: the detection module is not only used for switching the positioning mode by detecting the strength of satellite signals, so that the continuous positioning failure in a specified time interval and the distance from an initialization position exceeds a specified threshold value are increased, and the sensitivity and the accuracy of automatic switching of the positioning mode are improved.
Further, the indoor positioning system based on matrix transformation further comprises a statistics module and a prompting module, the statistics module is connected with the detection module and the prompting module, the statistics module is used for counting the times that the intelligent device charges at the indoor fixed point position and detects the intelligent device operated by a user, the times are divided by the times that the intelligent device charges at the indoor fixed point position regularly, an operation probability value is obtained, the operation probability value is compared with a preset operation probability, and if the operation probability value is lower than a threshold value, the user is reminded to remember to take the intelligent device through the prompting module.
The beneficial effects are that: the detection device can simply judge the use degree of the intelligent device by calculating the operation probability value in a certain time period, and can remind the user of the use degree of the mobile phone through the reminding module under the condition that the intelligent device is the mobile phone, so that whether the user enters the field to forget to take the mobile phone or not is simply predicted, and the user who possibly often forgets to take the mobile phone is reminded.
Further, the indoor positioning system further comprises a control module for directly switching the indoor/outdoor positioning mode.
The beneficial effects are that: the indoor/outdoor positioning mode can be directly switched by adopting the control module, and a user can switch the positioning mode according to random, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.
Drawings
FIG. 1 is a flow chart of an indoor positioning method based on matrix transformation of the present application;
fig. 2 is a schematic diagram of an indoor positioning system based on matrix transformation according to the present application.
Detailed Description
Reference numerals in the drawings of the specification include: the system comprises a server 1, a setting module 2, an inertial navigation module 3, a Bluetooth positioning module 4, a satellite positioning module 5, a detection module 6, a user operation identification module 7, a statistics module 8, a reminding module 9 and a control module 10.
Example 1
Embodiment one is substantially as shown in fig. 1: an indoor positioning method based on matrix transformation comprises the following steps:
s1, marking points of a plurality of positions are set on an indoor map of a server side.
S2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of the inertial navigation equipment in the intelligent equipment to a server, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server through matrix transformation, and marking inertial navigation positioning points on an indoor map according to the map coordinate system.
S3, detecting whether the intelligent device is located at a mark point or not through three or more Bluetooth beacons arranged indoors, if so, judging whether the mark point where the intelligent device is located is consistent with an inertial navigation positioning point or not through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the position of the mark point; the specific steps of Bluetooth positioning are as follows: the single Bluetooth beacon is a fixed coordinate, a circle is determined by taking the origin of the fixed coordinate as the center of a circle and the distance between the position of the fixed coordinate and the Bluetooth beacon as the radius, three or more fixed coordinates form three circles, the three circles intersect in space, and the position coordinate of the fixed coordinate is determined by an indoor positioning algorithm.
S4, if the intelligent equipment is detected to charge at the indoor fixed point position and the intelligent equipment is detected to be operated by a user, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, correcting the inertial navigation positioning point to be the indoor charged fixed point position specifically as follows:
s401, counting the times of charging the intelligent equipment at the indoor fixed-point position and detecting the intelligent equipment operated by a user, and dividing the times by the times of charging the intelligent equipment at the indoor fixed-point position regularly to obtain an operation probability value;
s402, comparing the operation probability value with a preset operation probability threshold value;
s403, if the operation probability value is lower than the operation probability threshold value, sending out carrying prompt information to the user through the intelligent equipment.
S5, judging and switching the indoor/outdoor positioning mode according to the intensity of the satellite positioning signals, switching to the outdoor positioning mode when the intensity of the satellite positioning signals is higher than a set threshold value, positioning according to the satellite positioning signals by the intelligent equipment, switching to the indoor positioning mode when the intensity of the satellite positioning signals is lower than the set threshold value, and positioning according to the built-in inertial navigation equipment by the intelligent equipment. Specifically, when satellite positioning of the intelligent equipment fails to be continuously positioned within a specified time interval, or the strength of a received satellite positioning signal is lower than a set threshold value, the satellite positioning is automatically switched to inertial navigation equipment positioning; when the current position of the inertial navigation device is more than a specified threshold from the initialized position, and the strength of satellite positioning signals at the application program end of the intelligent device reaches the minimum threshold requirement, the intelligent device is automatically switched to satellite positioning.
In addition, the user can directly switch the indoor/outdoor positioning mode through the application program of the intelligent device, wherein the intelligent device comprises a smart phone, a tablet and the like.
In the method, satellite signals cannot penetrate a building under an indoor environment, positioning is inaccurate, indoor positioning is performed by adopting inertial navigation, so that the problem of inaccuracy of indoor satellite positioning is solved, but errors can occur in the use process of the inertial navigation, errors occurring each time can be accumulated, and the errors can be only small deviation, so that the influence on positioning accuracy is small, but errors can be accumulated each time, and the inaccuracy of inertial navigation positioning can be caused, so that the method is used for assisting mark point positioning and user operation to identify positioning and correct the accumulated errors of inertial navigation on the basis of inertial navigation, a novel indoor positioning method is formed, and the problems of weak satellite signals and low positioning accuracy in the indoor environment are solved. The marking point positioning is to set a plurality of marking points at positions on an indoor map at a server side, detect whether the intelligent equipment is positioned at the marking points through Bluetooth positioning, if so, judge whether the marking points at which the intelligent equipment is positioned are consistent with the inertial navigation positioning points or not through Bluetooth positioning, and if not, correct the inertial navigation positioning points to be the marking point positions. The tag point location requires more than 3 bluetooth beacons to be set in the room. However, the transmission distance of bluetooth is limited, and the transmission of bluetooth signals is blocked by obstacles, so that a plurality of bluetooth beacons are required to be set for positioning the marker points under the conditions of large indoor environment and many rooms, thereby increasing the cost. Therefore, by means of the fact that a plurality of charging sockets and intelligent equipment are arranged in each room, whether the charging sockets are connected with the intelligent equipment or not and whether a user is operating the intelligent equipment or not can be automatically tested, user operation, identification and positioning are conducted, and accumulated errors of inertial navigation are corrected.
The switching of the positioning mode is not only based on the judgment of the strength of satellite signals, so that the continuous positioning failure in a specified time interval and the distance from an initialized position exceeding a specified threshold value are increased, and the sensitivity and accuracy of automatic switching of the positioning mode are improved. Through calculating the operation probability value in a certain time period, the use degree of the intelligent equipment by the user can be simply judged, under the condition that the intelligent equipment is a mobile phone, whether the user enters a field and forgets to take the mobile phone or not can be simply predicted through the use degree of the mobile phone by the user, and the user who possibly often forgets to take the mobile phone is reminded. The indoor/outdoor positioning mode can be directly switched by the application program of the intelligent equipment, and a user can switch the positioning mode according to random, so that the user can conveniently test the indoor positioning mode or the outdoor positioning mode.
Example two
The second embodiment is basically as shown in fig. 2: an indoor positioning system based on matrix transformation comprises a server 1, a setting module 2, an inertial navigation module 3, a Bluetooth positioning module 4, a satellite positioning module 5, a detection module 6, a user operation identification module 7, a statistics module 8, a reminding module 9 and a control module 10.
The server 1 can be connected with intelligent equipment, an indoor map is stored at the end of the server 1, and the end of the server 1 converts a coordinate system of the inertial navigation equipment into a map coordinate system through matrix transformation;
the setting module 2 is used for setting a plurality of mark points for an indoor map at the server 1 end, setting a threshold value for judging the intensity of satellite positioning signals, and setting a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value;
the inertial navigation module 3 is used for inertial navigation of the intelligent device, and the inertial navigation module 3 comprises inertial navigation equipment which is a gyroscope and an accelerometer which are built in the intelligent device;
the bluetooth positioning module 4 is configured to detect whether the intelligent device is located at a marker point, determine whether the marker point where the bluetooth positioning and recognition mobile phone is located is consistent with the inertial navigation positioning point, and correct the inertial navigation positioning point to be the marker point if the marker point is inconsistent with the inertial navigation positioning point, where the bluetooth positioning module 4 includes a plurality of bluetooth beacons, and the number of the bluetooth beacons is equal to or greater than three;
the satellite positioning module 5 is used for satellite positioning of the intelligent equipment;
the detection module 6 is configured to detect the strength of a satellite positioning signal, and after the detection module 6 detects that satellite positioning of the intelligent device fails to be continuously positioned within a specified time interval, or after the intensity of a received satellite positioning signal is lower than a set threshold, automatically switch to inertial navigation device positioning, the detection module 6 detects that when the current position of the inertial navigation device is at a position where the distance from an initialized position exceeds the specified threshold, and the intensity of the satellite positioning signal at an application program end of the intelligent device reaches a minimum threshold requirement, automatically switch to satellite positioning;
the user operation recognition module 7 is configured to recognize whether the intelligent device charges at an indoor fixed point position, detect whether a user is operating the intelligent device, if the intelligent device charges at the indoor fixed point position and detects that the user is operating the intelligent device, determine whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if the inertial navigation positioning point is inconsistent with the indoor charged fixed point position, correct the inertial navigation positioning point to the indoor charged fixed point position;
the statistics module 8 is connected with the detection module 6 and the reminding module 9, the statistics module 8 is used for counting the times of charging the intelligent equipment at the indoor fixed point position and detecting the intelligent equipment operated by a user, dividing the times by the times of charging the intelligent equipment at the indoor fixed point position regularly to obtain an operation probability value, comparing the operation probability value with a preset operation probability, and reminding the user to memorize the intelligent equipment through the reminding module if the operation probability value is lower than a threshold value;
the reminding module is used for reminding a user to memorize the intelligent equipment;
the control module 10 is used to directly switch the indoor/outdoor positioning mode.
The specific application is as follows: on the premise that a user sets a plurality of mark points on an indoor map at the server 1 side through a setting module 2, sets a threshold value for judging the intensity of satellite positioning signals and sets a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value
After detecting that the satellite positioning of the intelligent device fails to continuously position within a specified time interval or the intensity of a received satellite positioning signal is lower than a set threshold value, the detection module 6 automatically switches to the inertial navigation device positioning, and when the current position of the inertial navigation device is detected by the detection module 6, the distance from the initial position exceeds the specified threshold value, and the intensity of the satellite positioning signal at the application program end of the intelligent device reaches the minimum threshold value requirement, the satellite positioning is automatically switched.
When the positioning mode is the indoor positioning mode and the inertial navigation device is adopted for positioning, the Bluetooth positioning module 4 can detect whether the intelligent device is located at a mark point or not, judge whether the mark point where the Bluetooth positioning recognition mobile phone is located is consistent with the inertial navigation positioning point or not, correct the inertial navigation positioning point to be the mark point position if the mark point is inconsistent with the inertial navigation positioning point, meanwhile, the user operation recognition module 7 can charge the intelligent device at the indoor fixed point position or not, detect whether the user is operating the intelligent device or not, judge whether the inertial navigation positioning point is consistent with the indoor charged fixed point position if the intelligent device is charged at the indoor fixed point position or not, and correct the inertial navigation positioning point to be the indoor charged fixed point position if the mark point is inconsistent with the inertial navigation positioning point. In addition, the statistics module 8 counts the number of times that the intelligent device charges at the indoor fixed-point position and detects that the user operates the intelligent device, divides the number of times by the number of times that the intelligent device charges at the indoor fixed-point position regularly to obtain an operation probability value, compares the operation probability value with a preset operation probability, and reminds the user to memorize the intelligent device through the reminding module if the operation probability value is lower than a threshold value.
The user can also directly switch the indoor/outdoor positioning mode through the control module 10 according to the own requirement, if the outdoor/indoor positioning mode needs to be tested whether the function is good.
The system uses the inertial navigation technology to assist the mark point positioning and the user operation to identify and position the accumulated errors of the corrected inertial navigation, combines the indoor positioning and the satellite positioning, realizes an integrated positioning mode of integrating the indoor positioning and the outdoor positioning, and solves the problems of weak satellite signals and low positioning precision in the indoor environment. The mark point positioning and the user operation identification positioning are used for correcting the error of inertial navigation together, and compared with the method for correcting the error of inertial navigation by only adopting the mark point positioning, the method has a better error correction effect.
And the gyroscope and the accelerometer which are arranged in the intelligent equipment are adopted for inertial navigation, so that the cost is saved, and the utilization rate of the gyroscope and the accelerometer is improved. The single Bluetooth beacon is a fixed coordinate, the origin of the fixed coordinate is used as the circle center, the distance between the position of the fixed coordinate and the Bluetooth beacon is used as the radius to determine a circle, three or more fixed coordinates are formed into three circles, the three circles intersect in space, the position coordinate of the single Bluetooth beacon is determined through an indoor positioning algorithm, the Bluetooth beacon is used for marking point positioning, the cost is saved, and the service life of the Bluetooth beacon is long. The detection module 6 does not only rely on the detection of the satellite signal strength to switch the positioning mode, increases the continuous positioning failure in a specified time interval and the distance from the initialization position exceeds a specified threshold, thereby improving the sensitivity and accuracy of automatically switching the positioning mode.
The detection module 6 can simply judge the use degree of the intelligent device by the user by calculating the operation probability value in a certain time period, and can remind the user of the use degree of the mobile phone through the reminding module under the condition that the intelligent device is the mobile phone, so that the user can simply guess whether to enter the field and forget to take the mobile phone, and remind the user who possibly enters the field and forget to take the mobile phone.
The foregoing is merely exemplary embodiments of the present application, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (10)
1. An indoor positioning method based on matrix transformation is characterized by comprising the following steps: the method comprises the following steps:
s1, setting a plurality of marking points at positions on an indoor map at a server side;
s2, acquiring positioning information of the intelligent equipment, uploading a coordinate system of the inertial navigation equipment in the intelligent equipment to a server, converting the coordinate system of the inertial navigation equipment into a map coordinate system by the server through matrix transformation, and marking inertial navigation positioning points on an indoor map according to the map coordinate system;
s3, detecting whether the intelligent device is located at a mark point or not through three or more Bluetooth beacons arranged indoors, if so, judging whether the mark point where the intelligent device is located is consistent with an inertial navigation positioning point or not through Bluetooth positioning identification, and if not, correcting the inertial navigation positioning point to be the position of the mark point;
s4, if the intelligent equipment is detected to charge at the indoor fixed point position, and the intelligent equipment is detected to be operated by a user, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position, and if not, correcting the inertial navigation positioning point to be the indoor charged fixed point position.
2. The matrix-based indoor positioning method according to claim 1, wherein: further comprises:
s5, judging and switching the indoor/outdoor positioning mode according to the intensity of the satellite positioning signals, switching to the outdoor positioning mode when the intensity of the satellite positioning signals is higher than a set threshold value, positioning according to the satellite positioning signals by the intelligent equipment, switching to the indoor positioning mode when the intensity of the satellite positioning signals is lower than the set threshold value, and positioning according to the built-in inertial navigation equipment by the intelligent equipment.
3. The matrix-based indoor positioning method according to claim 2, wherein: in the step S5, when the satellite positioning of the intelligent device fails to continuously position within a specified time interval, or the intensity of the received satellite positioning signal is lower than a set threshold value, the satellite positioning signal is automatically switched to inertial navigation device positioning; when the current position of the inertial navigation device is more than a specified threshold from the initialized position, and the strength of satellite positioning signals at the application program end of the intelligent device reaches the minimum threshold requirement, the intelligent device is automatically switched to satellite positioning.
4. The matrix-based indoor positioning method according to claim 1, wherein: counting the times of charging the intelligent equipment at the indoor fixed point position and detecting the intelligent equipment operated by the user, dividing the times by the times of charging the intelligent equipment at the indoor fixed point position regularly to obtain an operation probability value, comparing the operation probability value with a preset operation probability threshold, and if the operation probability value is lower than the operation probability threshold, sending out carrying prompt information to the user.
5. The matrix-based indoor positioning method according to claim 1, wherein: the indoor/outdoor positioning mode can be directly switched by the intelligent device.
6. The utility model provides an indoor positioning system based on matrix transformation, includes server, inertial navigation module, bluetooth positioning module and satellite positioning module, its characterized in that: the system also comprises a setting module and a user operation identification module;
the server can be connected with the intelligent equipment, an indoor map is stored in the server, and the server converts a coordinate system of the inertial navigation equipment into a map coordinate system through matrix transformation;
the setting module is used for setting a plurality of mark points for an indoor map at a server side, setting a threshold value for judging the intensity of satellite positioning signals, and setting a threshold value for the distance between a positioning point of inertial navigation and an initialization position and an operation probability threshold value;
the inertial navigation module is used for inertial navigation of the intelligent equipment;
the Bluetooth positioning module is used for detecting whether the intelligent device is positioned at the marking point or not through three or more Bluetooth beacons, judging whether the marking point positioned by the intelligent device is consistent with the inertial navigation positioning point or not through Bluetooth positioning, and correcting the inertial navigation positioning point to be the position of the marking point if the marking point positioned by the intelligent device is inconsistent with the inertial navigation positioning point;
the satellite positioning module is used for satellite positioning of the intelligent equipment;
the user operation identification module is used for identifying whether the intelligent device charges at the indoor fixed point position or not, detecting whether the user is operating the intelligent device or not, judging whether the inertial navigation positioning point is consistent with the indoor charged fixed point position or not if the intelligent device charges at the indoor fixed point position and detecting that the user is operating the intelligent device, and correcting the inertial navigation positioning point to be the indoor charged fixed point position if the inertial navigation positioning point is inconsistent with the indoor charged fixed point position.
7. The matrix-based indoor positioning system of claim 6, wherein: the intelligent device further comprises a detection module, wherein the detection module is used for detecting the intensity of satellite positioning signals, judging and switching indoor/outdoor positioning modes according to the intensity of the satellite positioning signals, switching to the outdoor positioning mode when the positioning accuracy of the satellite positioning signals is higher than a set threshold value, positioning according to the satellite positioning signals, switching to the indoor positioning mode when the positioning accuracy of the satellite positioning signals is lower than the set threshold value, and positioning according to built-in inertial navigation equipment.
8. The matrix-based indoor positioning system of claim 7, wherein: after the detection module detects that the satellite positioning of the intelligent equipment fails to be continuously positioned within a specified time interval, or the intensity of a received satellite positioning signal is lower than a set threshold value, the intelligent equipment is automatically switched to inertial navigation equipment positioning;
the detection module detects satellite positioning which is automatically switched when the current position of the inertial navigation device, the distance from the initial position exceeds a specified threshold value and the strength of satellite positioning signals at the application program end of the intelligent device reaches the minimum threshold value requirement.
9. The matrix-based indoor positioning system of claim 6, wherein: the intelligent device comprises a detection module, a statistics module, a prompting module and a warning module, wherein the statistics module is connected with the detection module and the prompting module and is used for counting the times that the intelligent device is charged at an indoor fixed point position and detecting the intelligent device operated by a user, dividing the times by the times that the intelligent device is charged at the indoor fixed point position regularly to obtain an operation probability value, comparing the operation probability value with a preset operation probability, and if the operation probability value is lower than a threshold value, prompting the user to memorize the intelligent device through the prompting module.
10. The matrix-based indoor positioning system of claim 6, wherein: the indoor/outdoor positioning system further comprises a control module, wherein the control module is used for directly switching the indoor/outdoor positioning mode.
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