CN112505738A - Scenic spot off-line positioning system - Google Patents
Scenic spot off-line positioning system Download PDFInfo
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- CN112505738A CN112505738A CN202110152963.3A CN202110152963A CN112505738A CN 112505738 A CN112505738 A CN 112505738A CN 202110152963 A CN202110152963 A CN 202110152963A CN 112505738 A CN112505738 A CN 112505738A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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Abstract
The invention provides a scenic spot offline positioning system, which comprises a GPS (global positioning system), a scenic spot map point location positioning system and a Bluetooth positioning system which are cooperatively positioned, wherein the Bluetooth positioning system comprises a plurality of Bluetooth devices arranged in a scenic spot; the scenic spot off-line positioning system specifically performs positioning through the following steps: step S1, the tourist end is respectively connected with a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system, and the scenic spot map point data is loaded and obtained; and step S2, carrying out cooperative positioning through a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system. The invention has accurate positioning in scenic spots and can carry out accurate positioning according to the Bluetooth equipment, map POI data and GPS/Beidou three-in-one.
Description
Technical Field
The invention relates to the technical field of scenic spot positioning, in particular to an off-line scenic spot positioning system.
Background
The GPS (Global Positioning System)/Beidou satellite Positioning is accurate, the stable error is about 5 meters, but the GPS/Beidou Positioning is greatly influenced by weather and position influence and signals in scenic spots, the Positioning error is very large, and even the Positioning service cannot be carried out. The Bluetooth device can also be positioned, but if the Bluetooth device is used alone, the scenic spot area cost is high, the device is difficult to maintain, and the like.
Disclosure of Invention
The invention provides a scenic spot offline positioning system for accurately positioning by combining Bluetooth equipment, map POI data and GPS/Beidou, and aims to solve the technical problems of large positioning error of the GPS/Beidou, high cost and difficult maintenance of the independently used Bluetooth positioning equipment in the background technology.
In order to achieve the above object, the scenic spot offline positioning system provided by the invention comprises a GPS positioning system, a scenic spot map point location positioning system and a bluetooth positioning system which are cooperatively positioned with each other, wherein the bluetooth positioning system comprises a plurality of bluetooth devices arranged in a scenic spot; the scenic spot off-line positioning system specifically performs positioning through the following steps:
step S1, the tourist end is respectively connected with a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system, and the scenic spot map point data is loaded and obtained;
and step S2, carrying out cooperative positioning through a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system.
Preferably, the scenic spot offline positioning system further includes a cloud end storing positioning system data, and the step S2 specifically includes: and uploading the positioning data and the equipment data of the positioning system to the cloud end through the cooperative positioning of the GPS positioning system, the scenic spot map point positioning system and the Bluetooth positioning system.
Preferably, the bluetooth equipment corresponds and sets up the bluetooth equipment name, bluetooth equipment includes fixed bluetooth equipment, mobile bluetooth equipment and virtual bluetooth equipment, fixed bluetooth equipment sets up fixed position department in the scenic spot, mobile bluetooth equipment sets up on removing the object in the scenic spot, mobile bluetooth equipment uploads the high in the clouds in with the positioning data and the device data of removing the object in the scenic spot of gathering, virtual bluetooth equipment is the bluetooth equipment of visitor's end, obtains the accurate location back of visitor's end, uploads virtual bluetooth equipment's positioning data and device data to the high in the clouds.
Preferably, the GPS positioning system includes a guest-side positioning GPS and a scenic-spot positioning GPS disposed in a scenic spot, and a map, road shape data, and POI spot data are generated by combining trajectory data generated by a data acquisition tool of the scenic-spot map spot positioning system through a satellite image of the GPS positioning system.
Preferably, the step S2 specifically includes the following steps:
step S21, data acquisition: collecting Bluetooth equipment information of a Bluetooth positioning system in a scenic spot, GPS positioning information of a GPS positioning system and map information of a scenic spot map point location positioning system;
step S22, acquiring a deviation threshold: setting a foot drop distance threshold value, a traveling distance threshold value and a traveling speed threshold value between the GPS positioning of the GPS positioning system and the map of the scenic spot map point location positioning system;
step S23, guest end positioning and positioning rectification: and cooperatively positioning by combining Bluetooth equipment information of a Bluetooth positioning system, GPS positioning information of a GPS positioning system, map information of a scenic spot map point location positioning system and a deviation threshold value.
Preferably, in the step S23, when the guest cannot connect to the GPS signal of the GPS positioning system and it is determined that the guest positioning deviation exceeds the deviation threshold, the guest searches for a nearby bluetooth device, determines the location of the guest by combining the scenic spot map dot data in the step S1, and the cloud acquires the longitude and latitude bound to the corresponding bluetooth device.
Preferably, in step S23, when the guest searches for three or more fixed bluetooth devices, triangulation is performed, the location of the guest is determined, and the location and bluetooth device information are uploaded to the cloud.
Preferably, in step S23, when the guest terminal searches for one or two fixed bluetooth devices, the direction is determined according to the last reference point of the guest terminal and the gyroscope of the guest terminal device, and the current location of the guest terminal is calculated and obtained according to the road shape of the scenic spot map and the average traveling speed of the last reference point of the guest terminal.
Preferably, in step S23, when the fixed bluetooth device cannot perform positioning, the cloud acquires a signal of a nearby mobile bluetooth device according to the name of the bluetooth device, acquires a longitude and latitude uploaded by the corresponding mobile bluetooth device in real time, and positions the fixed bluetooth device within a five-meter range of the mobile bluetooth device according to the longitude and latitude uploaded by the GPS bound to the mobile bluetooth device in combination with the road shape.
Preferably, in step S23, when the fixed bluetooth device and the mobile bluetooth device cannot be located, all the information of the nearby virtual bluetooth devices is obtained, the cloud obtains the location data of the virtual bluetooth devices, and the location is performed in combination with the time of uploading the location data: if the distance to the virtual Bluetooth device is within three seconds, the virtual Bluetooth device is positioned nearby by combining the road shape; and if the distance time from the virtual equipment exceeds three seconds, judging according to the last visitor positioning reference point and the advancing direction of a gyroscope carried by the visitor end equipment, and obtaining a relatively accurate positioning point according to the average advancing speed.
The technical effects which can be achieved by adopting the invention are as follows: aiming at the problems of the defects, scenic spot positions, signals and the like in the prior art, the invention provides a novel auxiliary positioning method, which solves the positioning problem under the condition of inaccurate positioning caused by weak satellite signals and weak base station signals. When the tourist end can't connect the GPS signal to and when judging tourist positioning deviation and surpassing the deviation threshold value, start multistage bluetooth equipment location tourist current position, combine fixed bluetooth point location and non-fixed bluetooth point location, carry out accurate location, correct the deviation that the tourist was fixed a position. The invention has accurate positioning in scenic spots, does not need to install a large number of Bluetooth devices, and can carry out accurate positioning according to the Bluetooth devices, map POI data and GPS/Beidou three-in-one by only installing the Bluetooth devices on fixed target buildings, trees, pleasure boats and tourist cars.
Drawings
Fig. 1 is a flowchart of a positioning method of a scenic spot offline positioning system according to a preferred embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a scenic spot offline positioning system aiming at the existing problems, as shown in figure 1, the scenic spot offline positioning system comprises a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system which are mutually co-located, wherein the Bluetooth positioning system comprises a plurality of Bluetooth devices arranged in a scenic spot; the scenic spot off-line positioning system specifically performs positioning through the following steps:
step S1, the tourist end is respectively connected with a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system, and the scenic spot map point data is loaded and obtained;
and step S2, carrying out cooperative positioning through a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system.
And the site location positioning system of the scenic spot map is a wifi positioning system in the scenic spot.
The scenic spot offline positioning system further comprises a cloud end for storing positioning system data, and the step S2 specifically includes: and uploading the positioning data and the equipment data of the positioning system to the cloud end through the cooperative positioning of the GPS positioning system, the scenic spot map point positioning system and the Bluetooth positioning system.
The bluetooth device corresponds and sets up the bluetooth device name, bluetooth device includes fixed bluetooth device, mobile bluetooth device and virtual bluetooth device, fixed bluetooth device sets up fixed position department in the scenic spot, mobile bluetooth device sets up on removing the object in the scenic spot, mobile bluetooth device removes the locating data and the device data of the object in the scenic spot that will gather to upload to the high in the clouds, virtual bluetooth device is the bluetooth device of visitor's end, and after obtaining the accurate location of visitor's end, uploads virtual bluetooth device's locating data and device data to the high in the clouds.
The bluetooth device type may be determined using the bluetooth device name: 1. fixed bluetooth device name: fix-bluetooth name; 2. name of mobile Bluetooth device: MOVE-Bluetooth name; 3. virtual bluetooth device: bluetooth device signals other than the first two names.
The GPS positioning system comprises a tourist end positioning GPS and a scenic spot positioning GPS arranged in a scenic spot, and a map, road shape data and POI (Point of Interest, in a geographic information system, one POI can be a house, a shop, a mailbox, a bus station and the like) Point data are generated by combining a satellite image of the GPS positioning system and track data generated by a data acquisition tool of the scenic spot map Point positioning system.
The step S2 specifically includes the following steps:
step S21, data acquisition: collecting Bluetooth equipment information of a Bluetooth positioning system in a scenic spot, GPS positioning information of the GPS positioning system and map information of a scenic spot map point location positioning system.
Specifically, fixed Bluetooth point locations are constructed in scenic spots, and longitude and latitude, areas and categories of the Bluetooth point locations are bound to be fixed Bluetooth equipment point location information; the method comprises the steps that GPS positioning and Bluetooth devices are installed on sightseeing vehicles and shared vehicles in a scenic area, the Bluetooth devices are bound to the GPS positioning, data are uploaded to the cloud, and the vehicles are mobile Bluetooth devices; when the tourist uses the product for navigation and positioning, the tourist can upload the Bluetooth equipment information after acquiring accurate positioning, and the category of the tourist is virtual Bluetooth equipment;
collecting site location information of a scenic spot map: and constructing map road POI point locations, and generating a map, road shape data and POI point location data by combining satellite images with track data generated by a data acquisition tool.
Step S22, acquiring a deviation threshold: and setting a foot drop distance threshold value, a traveling distance threshold value and a traveling speed threshold value between the GPS positioning of the GPS positioning system and the map of the scenic spot map point location positioning system.
Specifically, the distance between the current GPS-positioned point of the tourist and the foot of the road map exceeds a set threshold, and if the distance exceeds the threshold, the deviation is set, namely the distance threshold is the foot distance threshold, and the foot distance threshold is a static threshold, namely the positioning deviation between different positioning systems at one time. The travel distance threshold is set according to a travel mode, such as driving or walking. The travel distance threshold is a dynamic threshold, which is a threshold used in combination with time and travel speed for rejecting abnormal travel patterns. And calculating the speed according to the distance between two adjacent positioning points and the two positioning time differences, wherein the speed exceeds a traveling speed threshold value, and the deviation can be judged.
Step S23, guest end positioning and positioning rectification: and cooperatively positioning by combining Bluetooth equipment information of a Bluetooth positioning system, GPS positioning information of a GPS positioning system, map information of a scenic spot map point location positioning system and a deviation threshold value.
In the step S23, when the guest cannot connect to the GPS signal of the GPS positioning system and it is determined that the guest positioning deviation exceeds the deviation threshold, the guest searches for a nearby bluetooth device, and determines the location of the guest by combining the scenic spot map dot data in the step S1, and the cloud acquires the longitude and latitude bound to the corresponding bluetooth device.
The specific steps of judging that the tourist positioning deviation exceeds the deviation threshold value are as follows: and judging whether the positioning deviation distance between wifi positioning of the scenic spot map point location positioning system and GPS positioning information of the GPS positioning system exceeds a deviation threshold value.
The positioning and the positioning deviation correction specifically comprise:
the method comprises the following steps of firstly, acquiring a Bluetooth device signal fixed nearby according to a Bluetooth device name, and acquiring longitude and latitude bound by a corresponding Bluetooth device by a cloud:
when the tourist side searches for three or more than three fixed Bluetooth devices, triangular positioning is carried out, the position of the tourist side is determined, and the positioning position and the Bluetooth device information of the tourist side are uploaded to the cloud side.
When the tourist side searches for one or two fixed Bluetooth devices, direction judgment is carried out according to the last positioning reference point of the tourist side and a gyroscope carried by the tourist side device, and the current position of the tourist side is obtained through calculation according to the road shape of the scenic spot map and the average travelling speed of the last positioning reference point.
And secondly, when the fixed Bluetooth device cannot be positioned, acquiring a mobile Bluetooth device signal nearby according to the name of the Bluetooth device, acquiring the longitude and latitude uploaded by the corresponding mobile Bluetooth device in real time by the cloud, and positioning within a five-meter range of the mobile Bluetooth device according to the longitude and latitude uploaded by the GPS bound by the mobile Bluetooth device and the shape of a road.
Thirdly, all unable location when fixed bluetooth equipment and mobile bluetooth equipment, acquire near all virtual bluetooth equipment information, the virtual bluetooth equipment location data is acquireed to the high in the clouds, fixes a position in combination with the time of uploading the location data: if the distance to the virtual Bluetooth device is within three seconds, the virtual Bluetooth device is positioned nearby by combining the road shape; and if the distance time from the virtual equipment exceeds three seconds, judging according to the last visitor positioning reference point and the advancing direction of a gyroscope carried by the visitor end equipment, and obtaining a relatively accurate positioning point according to the average advancing speed.
The technical effects which can be achieved by adopting the invention are as follows: aiming at the problems of the defects, scenic spot positions, signals and the like in the prior art, the invention provides a novel auxiliary positioning method, which solves the positioning problem under the condition of inaccurate positioning caused by weak satellite signals and weak base station signals. When the tourist end can't connect the GPS signal to and when judging tourist positioning deviation and surpassing the deviation threshold value, start multistage bluetooth equipment location tourist current position, combine fixed bluetooth point location and non-fixed bluetooth point location, carry out accurate location, correct the deviation that the tourist was fixed a position. The invention has accurate positioning in scenic spots, does not need to install a large number of Bluetooth devices, and can carry out accurate positioning according to the Bluetooth devices, map POI data and GPS/Beidou three-in-one by only installing the Bluetooth devices on fixed target buildings, trees, pleasure boats and tourist cars.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The scenic spot off-line positioning system is characterized by comprising a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system which are mutually cooperatively positioned, wherein the Bluetooth positioning system comprises a plurality of Bluetooth devices arranged in a scenic spot; the scenic spot off-line positioning system specifically performs positioning through the following steps:
step S1, the tourist end is respectively connected with a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system, and the scenic spot map point data is loaded and obtained;
step S2, carrying out cooperative positioning through a GPS positioning system, a scenic spot map point location positioning system and a Bluetooth positioning system; the method specifically comprises the following steps:
step S21, data acquisition: collecting Bluetooth equipment information of a Bluetooth positioning system in a scenic spot, GPS positioning information of a GPS positioning system and map information of a scenic spot map point location positioning system;
step S22, acquiring a deviation threshold: setting a foot drop distance threshold value, a traveling distance threshold value and a traveling speed threshold value between the GPS positioning of the GPS positioning system and the map of the scenic spot map point location positioning system;
step S23, guest end positioning and positioning rectification: and cooperatively positioning by combining Bluetooth equipment information of a Bluetooth positioning system, GPS positioning information of a GPS positioning system, map information of a scenic spot map point location positioning system and a deviation threshold value.
2. The offline scenic spot positioning system of claim 1, further comprising a cloud end for storing positioning system data, wherein the step S2 specifically comprises: and uploading the positioning data and the equipment data of the positioning system to the cloud end through the cooperative positioning of the GPS positioning system, the scenic spot map point positioning system and the Bluetooth positioning system.
3. The system of claim 2, wherein the bluetooth device is correspondingly provided with a bluetooth device name, the bluetooth device comprises a fixed bluetooth device, a mobile bluetooth device and a virtual bluetooth device, the fixed bluetooth device is arranged at a fixed position in the scenic spot, the mobile bluetooth device is arranged on a mobile object in the scenic spot, the mobile bluetooth device uploads the acquired positioning data and device data of the mobile object in the scenic spot to the cloud, the virtual bluetooth device is a bluetooth device of the tourist end, and after accurate positioning of the tourist end is acquired, the positioning data and device data of the virtual bluetooth device are uploaded to the cloud.
4. The scenic spot offline positioning system of claim 1, wherein the GPS positioning system comprises a guest-side positioning GPS and a scenic spot positioning GPS disposed in a scenic spot, and a map, road shape data and POI spot data are generated by satellite images of the GPS positioning system in combination with trajectory data generated by a data acquisition tool of the scenic spot map spot positioning system.
5. The offline scenic spot positioning system of claim 1, wherein in step S23, when the tourist is unable to connect with the GPS signal of the GPS positioning system and the tourist positioning deviation exceeds the deviation threshold, the tourist searches for nearby bluetooth devices, and determines the position of the tourist by combining the scenic spot map dot data in step S1, and the cloud obtains the longitude and latitude bound to the corresponding bluetooth devices.
6. The system of claim 3, wherein in step S23, when the guest end searches for three or more fixed Bluetooth devices, the guest end performs triangulation to determine the location of the guest end, and uploads the location and Bluetooth device information to the cloud end.
7. The system of claim 6, wherein in step S23, when the tourist side searches for one or two fixed bluetooth devices, the direction determination is performed according to the last positioning reference point of the tourist side and the gyroscope of the tourist side device, and the current position of the tourist side is calculated and obtained according to the road shape of the scenic map and the average traveling speed of the last positioning reference point.
8. The offline scenic spot positioning system of claim 6, wherein in step S23, when the fixed bluetooth device cannot perform positioning, the device obtains a nearby mobile bluetooth device signal according to the name of the bluetooth device, the cloud obtains the longitude and latitude uploaded by the corresponding mobile bluetooth device in real time, and the device is positioned within five meters of the mobile bluetooth device according to the longitude and latitude uploaded by the GPS bound to the mobile bluetooth device, in combination with the road shape.
9. The system of claim 6, wherein in step S23, when neither the fixed bluetooth device nor the mobile bluetooth device can perform positioning, all the information of the nearby virtual bluetooth devices is obtained, and the cloud obtains the positioning data of the virtual bluetooth devices, and performs positioning in combination with the time of uploading the positioning data: if the distance to the virtual Bluetooth device is within three seconds, the virtual Bluetooth device is positioned nearby by combining the road shape; and if the distance time from the virtual equipment exceeds three seconds, judging according to the last visitor positioning reference point and the advancing direction of a gyroscope carried by the visitor end equipment, and obtaining a relatively accurate positioning point according to the average advancing speed.
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