CN112637780A - Effective position tracking system in exhibition environment - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The invention provides an effective position tracking system in exhibition environment, which realizes indoor positioning of a target node through cooperative positioning of an anchor node and a virtual anchor node, and the system comprises: one or more anchor nodes configured to transmit Bluetooth signals; one or more virtual anchor nodes configured to transmit a Bluetooth signal to a target node; and a target node configured to receive bluetooth signals from the anchor node and from the virtual anchor node, and to determine a location of the target node indoors based on the received bluetooth signals from the anchor node and the virtual anchor node.
Description
Cross Reference to Related Applications
This application claims priority from U.S. provisional application No. 62/912,674 entitled "An Effective Location Tracking System in exclusion Environment" filed on 2019, 10, 9, which is hereby incorporated by reference in its entirety.
Technical Field
The present invention generally relates to a position tracking system. In particular, the present invention relates to a position tracking system and method suitable for use in an indoor space such as an exhibition environment.
Background
In location tracking for use in indoor spaces such as exhibition environments, techniques known to the applicant include the use of BLE, Wi-Fi or magnetic fields and positioning algorithms to determine target node locations in an indoor environment. However, due to the different limitations of some techniques and the effectiveness of the algorithms employed, the performance of these techniques in terms of positioning accuracy and user experience is not ideal. Furthermore, Wi-Fi technology is not user friendly, as the user needs to connect his or her device (e.g., a smartphone) to the Wi-Fi network before using the location tracking service. In addition, Wi-Fi technology also presents a potential risk of connecting a smartphone to a fake Wi-Fi network, thereby exposing the smartphone to network security risks.
Disclosure of Invention
The present invention has been made keeping in mind the above problems occurring in the prior art, and is intended to solve all or at least one of the problems.
According to an aspect of the present invention, there is provided an indoor location tracking system based on bluetooth communication, which implements indoor positioning of a target node through cooperative positioning of an anchor node and a virtual anchor node, the system comprising: one or more anchor nodes configured to transmit Bluetooth signals;
one or more virtual anchor nodes configured to transmit a Bluetooth signal to a target node; and a target node configured to receive bluetooth signals from the anchor node and from the virtual anchor node, and to determine a location of the target node indoors based on the received bluetooth signals from the anchor node and the virtual anchor node.
According to another aspect of the present invention, there is provided a mobile device as a target node for implementing indoor positioning of itself by cooperative positioning based on an anchor node and a virtual anchor node, the mobile device including: a processor; and a memory having executable instructions stored therein, the processor executing the executable instructions to perform operations comprising: reading for multiple times within preset time to find indoor anchor nodes and virtual anchor nodes, and calculating the positions of target nodes according to the found positions of the anchor nodes and the virtual anchor nodes; obtaining corresponding signal strength indications (RSSIs) from the anchor node and the virtual anchor node, determining an RSSI difference based on the obtained RSSI and an RSSI corresponding to the calculated target node location; and calculating a location of the target node based on the determined RSSI difference.
According to still another aspect of the present invention, there is provided a mobile device including: a processor; and
a memory having executable instructions stored therein, the processor executing the executable instructions to perform operations comprising: and sending a Bluetooth signal to a target node in the indoor space for the target node to determine the position of the target node in the indoor space, wherein the mobile device serves as a virtual anchor node to send the Bluetooth signal to the target node, so that the target node performs indoor positioning on the target node according to the Bluetooth signals sent by the anchor node and the virtual anchor node based on cooperative positioning of the anchor node and the virtual anchor node to determine the position of the target node.
According to still another aspect of the present invention, there is provided a method for implementing indoor location positioning of a target node based on cooperative positioning of an anchor node and a virtual anchor node, including: transmitting, by one or more anchor nodes, a Bluetooth signal; transmitting, by one or more virtual anchor nodes, a Bluetooth signal to a target node; and receiving, by the target node, bluetooth signals from the anchor node and the virtual anchor node, and determining a location of the target node indoors based on the received bluetooth signals from the anchor node and the virtual anchor node.
According to still another aspect of the present invention, there is provided a method for indoor positioning of a target node, wherein the target node performs indoor positioning of itself by cooperative positioning based on an anchor node and a virtual anchor node, the method comprising: the target node reads for multiple times within preset time to discover the anchor node and the virtual anchor node, and the position of the target node is calculated according to the positions of the discovered anchor node and the virtual anchor node; obtaining corresponding signal strength indications (RSSIs) from the anchor node and the virtual anchor node, determining an RSSI difference based on the obtained RSSI and an RSSI corresponding to the calculated target node location; and calculating a location of the target node based on the determined RSSI difference.
The location tracking system according to the present invention is able to provide event organizers (e.g. organizers of an exhibition) and visitors (e.g. exhibition users) with a cost-effective Indoor Positioning System (IPS) solution with unique functionality.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and are not limited by those skilled in the art or ordinary skill.
FIG. 1 illustrates an example of a use environment for a location tracking system of an embodiment of the present invention.
Fig. 2 illustrates a comparison of the positioning accuracy and user interface of the position tracking technique of the techniques known to the applicant.
FIG. 3 illustrates a schematic diagram comparing the effect of using Bluetooth Low energy technology and Wi-Fi in a location based system according to an embodiment of the present invention.
FIG. 4 illustrates a schematic diagram of information interaction between nodes in a location tracking system according to an embodiment of the present invention.
FIG. 5 illustrates a block schematic diagram of a position tracking system according to the present invention.
Fig. 6 illustrates a hardware structure of a target node according to an embodiment of the present invention.
Fig. 7 illustrates a flowchart of a location tracking method of a target node according to an embodiment of the present invention.
FIG. 8 illustrates a flowchart of a location tracking method of a virtual anchor node according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings. It should be understood that the following embodiments are not intended to limit the present invention, and not necessarily all combinations of aspects described according to the following embodiments are required as to the means for solving the problems according to the present invention. For the sake of simplicity, the same reference numerals or signs are used for the same structural parts or steps, and the description thereof is omitted.
[ working Environment of position tracking System ]
FIG. 1 illustrates an example of an operating environment for the location tracking system of the present invention.
There are technical drawbacks to position tracking in indoor spaces. The following description will be given taking an indoor space as an exhibition hall as an example.
The exhibition hall shown in fig. 1 includes a plurality of exhibitions. Wherein the exhibitions include standard exhibitions and non-standard exhibitions. For a standard booth in an exhibition, standard construction and design is defined according to the size and height of the booth, and thus the setting up of bluetooth beacons (or bluetooth low energy, BLE) is relatively fast and easy. For non-standard exhibitions in an exhibition, the exhibitor will build the exhibitor in its own style (architecture of the exhibitor). Typically, the exhibition organizer will only see the design of the non-standard exhibition booth the last day during the exhibition setup (i.e., the day before the exhibition begins). Therefore, determining the location for installing BLE beacons in non-standard booths is very time intensive. In addition, in some non-standard exhibitions, there is no wall, the exhibitor structure is too high, resulting in the exhibitor organizer not being able to install beacons in the exhibitor, which would greatly affect the location tracking function in the area.
As shown in fig. 2, in the indoor positioning technology known to the applicant, there are disadvantages of large positioning error, floating positioning of the user, long time taken for positioning, and poor user experience.
To this end, in the present invention, the signal coverage problem is solved by a cooperative positioning algorithm using RSSI of BLE signals from the mobile node (user's handset) and the virtual anchor node (exhibitor's handset).
In the present invention, an effective and efficient indoor positioning system is realized by using bluetooth. As shown in fig. 3, the application of bluetooth to the present invention will result in benefits such as low cost, large working range, ease of construction, and better user experience compared to Wi-Fi.
[ configuration of position tracking System ]
The position tracking system of the present invention will be described below with reference to fig. 4 and 5.
The location tracking system shown in fig. 4 and 5 includes a plurality of anchor nodes 1000, a plurality of virtual anchor nodes 2000, and a target node 3000.
The anchor node 1000 (alternatively referred to as a real anchor node to distinguish from a virtual anchor node) may be a device that transmits bluetooth signals, such as a bluetooth beacon. Examples of other devices that transmit bluetooth signals include: bluetooth gateway, bluetooth electronic tags, etc.
The virtual anchor node 2000 may be a mobile terminal. Taking an indoor environment as an example of an exhibition, the virtual anchor node may be a mobile device provided by an exhibition organizer (or by an exhibitor). The mobile device may be, for example, a device such as a mobile terminal, personal PC, tablet computer, other smart device having a processor and a network interface, and the like.
The mobile device can communicate with the target node 3000 through bluetooth or wifi, NFC and other near field communication modes, and can also communicate with the target node 3000 through NB-IOT, GPRS, LoRa and other communication modes.
In the location tracking system, the anchor node 1000 may transmit a bluetooth signal, and the virtual anchor node 2000 may receive the bluetooth signal from the anchor node 1000 and may also transmit the bluetooth signal to the target node 3000. The target node 3000 may receive signals from the anchor node 1000 and the virtual anchor node 2000, and determine the position of the target node indoors for positioning according to the received signals.
Fig. 5 illustrates a block diagram of a location tracking system. A location tracking system, such as a bluetooth indoor positioning system, includes an anchor node 1000, a virtual anchor node 2000, and a target node 3000.
Wherein the anchor node 1000 includes a transmitting unit 110 for transmitting a bluetooth signal to an indoor space. The virtual anchor node 2000 includes a transmitting unit 210 for transmitting a bluetooth signal to an indoor space; and a receiving unit capable of receiving a bluetooth signal from the anchor node 1000.
The target anchor node 3000 includes: a reading module 310 which reads for a plurality of times within a predetermined time to discover an anchor node and a virtual anchor node, and calculates a location of a target node according to the locations of the discovered anchor node and virtual anchor node; a determination module 320 that obtains corresponding signal strength indications (RSSI) from the anchor node and the virtual anchor node, determines an RSSI difference based on the obtained RSSI and an RSSI corresponding to the calculated target node location; and a calculation module 330 that calculates a location of the target node based on the determined RSSI difference.
Wherein, the calculating module 330 includes: a remove sub-module 3310 that removes untrusted nodes from the discovered anchor nodes and the virtual anchor nodes based on the determined RSSI difference; the determination sub-module 3320 determines the location of the target node based on the trusted anchor node and the virtual location.
The processing performed by each of the above modules will be described in detail later.
According to the position tracking system disclosed by the invention, the nodes in the indoor space can be accurately positioned. For example, when the indoor space is in an exhibition, the spectator is in the exhibition, and it is difficult to locate the position of the spectator by a general technique. The position tracking system of the invention can accurately position the exhibition person. A plurality of bluetooth beacons disposed in the exhibitions are included in the system as anchor nodes. As shown in fig. 1, a 550-unit bluetooth beacon is provided in the exhibition hall. Also included in the system are a plurality of mobile devices provided by the exhibition organizer (and also by the exhibitor or others) as virtual anchor nodes. As shown in fig. 4, each exhibition booth includes a plurality of mobile terminals as virtual anchor nodes, and the mobile terminals may be placed at fixed positions in the booth or, in some cases, may be carried by exhibition organizers (or exhibitors) and located at non-fixed positions. When the exhibition person is in the exhibition, the mobile terminal carried by the exhibition person can be used as a target node to perform positioning so as to determine the position of the exhibition person in the exhibition. Therefore, the position tracking system can flexibly set the virtual nodes to position the target node in the meeting place, has higher positioning precision and better user experience for the user.
[ Structure and function of target node ]
In this embodiment, the target node is a node to be located, and the following description is given by taking a mobile terminal as an example of the target node. Although a mobile terminal (including but not limited to a smart phone, a smart watch, a smart band, and a music playing device) is exemplified as the target node 3000 in the present embodiment, it is obvious that the target node is not limited thereto, and the target node of the present invention may be various devices such as a notebook computer, a tablet computer, a PDA (personal digital assistant), a personal computer, or an internet device (e.g., a digital camera, etc.) having a touch display screen and an information processing function.
As shown in fig. 5, the target node 3000 includes a plurality of the following components connected to each other via a system bus: an input interface 102, a CPU 103, a ROM 104, a RAM 105, an external memory 106, an output interface 107, a display 108, a communication module 109, and a short-range wireless communication module 110. The input interface 102 is an interface for receiving data and operation instructions input by a customer, and is an interface for receiving data and operation instructions input by it from the customer via an operation unit (not shown) such as a key, a button, or a touch screen. Note that the display 108 and the module for operation, which are described later, may be at least partially integrated, and may be, for example, a configuration in which screen output and reception of an operation instruction are performed in the same screen.
The CPU 103 is a system control module, and generally controls the target node 3000 comprehensively. For example, the control system module can control such that the target node 3000 such as a mobile terminal performs processing for performing calculation and data processing for positioning the target node 3000. Further, for example, the CPU 103 performs display control of the target node 3000. The ROM 104 stores fixed data such as a data table and a control program and an Operating System (OS) program executed by the CPU 103. In the present embodiment, the ROM 104 stores therein various programs, for example, a program for being executed to calculate the position of the target node, and the like.
The RAM 105 (internal storage module) is configured by, for example, SRAM (static random access memory), DRAM, or the like, which requires a backup power supply. In this case, the RAM 105 can store important data such as program control variables and the like in a nonvolatile manner. Further, a storage area for storing setting information of the target node 3000, management data of the target node 3000, and the like is also provided in the RAM 105. Further, the RAM 105 functions as a work memory and a main memory of the CPU 103.
The external memory 106 may store various application programs and the like. Further, the external memory 106 may also store various programs such as an information transmission/reception control program for transmission/reception with a communication device (not shown) via the communication module 109, and various information used by these programs.
The output interface 107 is an interface for controlling the display 108 to display information and a display screen of an application program. The display 108 is constructed, for example, from an LCD (liquid crystal display), and may also be a TFT screen, UFB screen, STN screen, TFD screen, OLED screen, ASV screen, or the like. By arranging a soft keyboard having keys such as a numerical value input key, a mode setting key, a decision key, a cancel key, and a power key on the display 108, an input of a user via the display 108 can be received.
The target node 3000 performs data communication with the anchor node 1000 and the virtual anchor node 2000 through a wireless communication method such as bluetooth via the communication module 109.
When indoor positioning is carried out, the CP algorithm is built in an effective indoor positioning system, and a user can obtain good user experience by using low-cost, high-precision and plug-and-play infrastructure. The CP algorithm employed in the present invention is actually a fusion algorithm, which includes optimized beacon setting, site planning, multilateral positioning, noise reduction, event modification, special event handling and stabilization, and the like.
As shown in fig. 6, the position of the target node indoors is determined by the following steps. Where the order of steps is not exclusive, steps may also be performed in a different order than described below, and steps need not be included, and certain steps may be omitted or replaced with other steps.
S100: the locations of the anchor node, the virtual anchor node, and the mobile node are extracted from the server.
Specifically, the service stores, for example, bluetooth beacons, mobile terminals provided by the exhibition organizer as virtual anchor nodes, and user terminals as target nodes.
S102: the signals transmitted by the anchor node 1000 and the virtual anchor node 2000 are read a plurality of times within the indoor space for a predetermined time to discover the anchor node and the virtual anchor node for calculating the location of the target node.
Specifically, the mobile terminal of the user performs a plurality of readings within a predetermined time in response to the user's instruction to discover the bluetooth beacon as an anchor node and the bluetooth signal transmitted by the mobile terminal provided by the exhibition organizer (or the exhibitor as well) as a virtual anchor node. The predetermined time may be preset, for example, one reading is performed within 0.5 seconds, and the number of readings may be preset, for example, 5 readings are performed within each preset time period, for example, within 0.5 seconds. The Bluetooth signals from the Bluetooth beacon and the mobile terminal of the exhibition organizer are read for multiple times, so that the Bluetooth signals transmitted by the mobile terminal provided by the Bluetooth beacon and the exhibition organizer are obtained from the determined Bluetooth signals, and the position of the mobile terminal of the user is calculated.
S104: the user's mobile terminal obtains corresponding signal strength indications (RSSI) from the anchor node and the virtual anchor node and determines an RSSI standard deviation based on the received RSSI.
Specifically, the user's mobile terminal calculates the standard deviation of the RSSI from the RSSI sent from the mobile terminal, such as provided by a bluetooth beacon and/or by an exhibition organizer. Wherein, the RSSI standard deviation of bluetooth signal can characterize the stability of bluetooth signal. A larger value indicates that the bluetooth signal is less stable and therefore not suitable for use in determining the location of the user's mobile terminal, and the node corresponding to the RSSI standard deviation will be considered unreliable.
Then, the mobile terminal of the user as the target node calculates the position of the mobile terminal based on the determined RSSI standard deviation. This calculation process can be performed by performing the following steps S106 to S110, for example.
S106: removing untrusted nodes from the discovered anchor nodes and virtual anchor nodes based on the determined RSSI standard deviations.
In the bluetooth beacon obtained by reading and the user terminal provided by the exhibition organizer, there may be one or more untrusted nodes, and if the position of the mobile terminal of the user is calculated from signals obtained by the untrusted nodes, the positioning result may be inaccurate. So untrusted nodes are excluded in this step.
The removal of untrusted nodes may be accomplished by the following exemplary exclusion:
s108: calculating a score for each valid node of the anchor node and the virtual anchor node based on the SPEB (Upper Square error Limit, equivalent to an increase in variance of the range estimate) of the RSSI standard deviation.
The calculation of the score may be performed in the following manner. The following calculation is merely an exemplary representation and other non-listed ways to calculate the score may also be employed.
The first calculation method comprises the following steps: different weights are set for various parameters of the anchor node 1000 and the virtual anchor node 2000, for example, parameters such as the location of the mobile terminal of the user, the type of the node, and the strength of the bluetooth signal. And calculating the scores of all or a range of anchor nodes and virtual anchor nodes according to the weights.
And a second calculation method comprises the following steps: a certain weight is set for the anchor node 1000 and the virtual anchor node 2000, and different weights are set for various parameters of the anchor node and the virtual anchor node, for example, parameters such as the location of the user terminal, the type of the node, and the strength of the bluetooth signal. Finally, the scores for all or a particular range of anchor nodes and virtual anchor nodes are weighted and calculated based on the weights.
S110: a plurality of nodes having the highest scores are selected as trusted nodes (anchor nodes and virtual nodes), and the location of a target node is determined based on the location of the trusted nodes to calculate the location of the target node.
Specifically, after the scores of each anchor node and virtual anchor node are calculated, the position of the target node is calculated by selecting a plurality of nodes having the highest scores of certain data. This position of the target node may be obtained by the following calculation:
wherein the content of the first and second substances,
the parameters in the above formula are respectively:
n denotes a reference node located at the nth reference node.
ρ represents the positioning variance of the node.
y represents a path loss exponent.
dnRepresenting the distance from the reference node, i.e. the node with the highest score calculated, to the object to be located.
σ is the shading standard deviation (shading standard definition).
The steps can be circulated for multiple times so as to accurately position the target node.
The CP calculation performed in the above manner has several advantages, such as:
improved positioning accuracy, especially in areas with no or no beacon signals.
Extend the signal coverage of the venue.
Reduce the number of beacons required in the venue.
By applying the CP algorithm in the IPS solution, the technical problems proposed in the background art are effectively solved.
The new solution is cost effective, more accurate and easy to set up, and provides a better user experience.
Providing an efficient indoor location tracking solution that allows people to easily visit the exhibition location and reach at the exhibition.
[ construction and function of virtual Anchor node ]
In the present embodiment, a description is given with an example in which a mobile terminal is used as a virtual anchor node. Although a mobile terminal (including but not limited to a smart phone, a smart watch, a smart band, and a music playing device) is exemplified as the virtual anchor node 2000 in the present embodiment, it is obvious that the virtual anchor node of the present invention is not limited thereto, and the virtual anchor node may be a notebook computer, a tablet computer, a PDA (personal digital assistant), a personal computer, or an internet device (such as a digital camera, etc.) having a touch display screen and an information processing function.
Taking the virtual anchor node as the mobile terminal for example, the structure is similar to that of the mobile terminal as the target node, and is not described herein again.
The steps performed by the virtual anchor node in performing target node location will be described below with reference to fig. 7. The steps can be performed in other orders and are not limited to the steps described below. And steps are not necessarily included. The mobile device serves as a virtual anchor node to send a Bluetooth signal to the target node, so that the target node determines the position of the target node according to the Bluetooth signal sent by the virtual anchor node.
S210: bluetooth signals transmitted by one or more anchor nodes are received.
Specifically, a mobile terminal provided by an exhibition organizer (or an exhibitor) as a virtual anchor node receives bluetooth signals from bluetooth beacons at steps within the exhibition.
S220: and sending a Bluetooth signal to a target node for positioning the target node.
Specifically, the mobile terminal of the exhibition organizer acts as a virtual anchor node to transmit bluetooth signals to the mobile terminals of the participating users, which bluetooth signals are used to determine the location of the mobile terminal for use.
As shown in fig. 4, the virtual anchor node may be mobile, e.g., a mobile terminal. The mobile terminal can be fixed at a certain position, and when the Bluetooth beacon is arranged and the range which cannot be covered by the Bluetooth beacon exists in the exhibition stands of the exhibition, the mobile terminal can be arranged in the exhibition stands which are not covered by the Bluetooth beacon, and the mobile terminal can be removed when the exhibition is finished. The location of the virtual anchor node may also include non-fixed locations, such as where the virtual anchor node is carried by certain personnel to be moved.
The virtual anchor node is adopted in the invention, so that the position tracking system of the invention has obvious advantages. In the techniques known to the applicant, the positioning accuracy of the position tracking system may be greater than 10m when not supported by the mobile node. And the positioning accuracy can be improved by the support of the mobile node. However, the mobile node differs from the anchor node in terms of stability because the mobile node will be in a mobile state when the anchor node is fixed in position, which slightly affects the positioning accuracy. The virtual anchor node may provide a relatively stable signal source to calculate the location of the target node as compared to the mobile node. This is because the virtual anchor node will stay within the relevant booth area and therefore its location (identified coordinates) is relatively stable.
Furthermore, the IPS solution described in the present invention is applicable to many different indoor locations other than the above exhibition center/exhibition, such as shopping centers, commercial buildings, hospitals, libraries, smart factories, smart cities, parking lots, theme parks, etc.
Although the present invention has been described with reference to the exemplary embodiments, the embodiments are only for illustrating the technical idea and features of the present invention, and the protection scope of the present invention is not limited thereby. Any equivalent variations or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (20)
1. An indoor location tracking system based on Bluetooth communication, which realizes indoor positioning of a target node through cooperative positioning of an anchor node and a virtual anchor node, the system comprising:
one or more anchor nodes configured to transmit Bluetooth signals;
one or more virtual anchor nodes configured to transmit a Bluetooth signal to a target node; and
a target node configured to receive Bluetooth signals from the anchor node and from the virtual anchor node and to determine a location of the target node indoors based on the received Bluetooth signals from the anchor node and the virtual anchor node.
2. The location tracking system of claim 1, wherein the virtual anchor node is a mobile device.
3. The location tracking system of claim 1 or 2, wherein the target node is a mobile device of a target user.
4. The location tracking system of any one of claims 1-3, wherein the location tracking system achieves target location by a cooperative positioning algorithm based on Received Signal Strength Indication (RSSI) of Bluetooth signals from the target node and the virtual anchor node.
5. The location tracking system of claim 1, wherein the anchor node is a Bluetooth Low Energy (BLE) device.
6. The location tracking system of claim 1, the target node comprising:
a reading module which reads for a plurality of times in the indoor space within a predetermined time to discover an anchor node and a virtual anchor node;
a determination module to obtain corresponding signal strength indications (RSSIs) from the anchor nodes and the virtual anchor nodes, and to determine an RSSI standard deviation based on the obtained RSSIs; and
a calculation module to calculate a location of the target node based on the determined RSSI standard deviation.
7. The location tracking system of claim 6, wherein the calculation module comprises:
a removal submodule to remove untrusted nodes from the discovered anchor nodes and virtual anchor nodes based on the determined RSSI standard deviation; and
and the determining submodule determines the position of the target node based on the trusted anchor node and the virtual position.
8. The location tracking system of claim 7, wherein the removal submodule:
calculating a score for each valid node of the anchor node and the virtual anchor node based on the SPEB of the RSSI standard deviation; and is
Determining an untrusted node of the anchor node and a virtual anchor node based on the computed scores of the anchor node and the virtual anchor node.
9. The location tracking system of claim 8, wherein the determination sub-module determines the location of the target node using as a trusted node an anchor node and/or a virtual anchor node corresponding to a highest score of the scores of the anchor node and virtual anchor node calculated by the removal sub-module.
10. A mobile device as a target node for implementing indoor positioning of itself by cooperative positioning based on an anchor node and a virtual anchor node, the mobile device comprising:
a processor; and
a memory having executable instructions stored therein, the processor executing the executable instructions to perform operations comprising:
performing a plurality of readings within the indoor space for a predetermined time to discover anchor nodes and virtual anchor nodes;
obtaining corresponding signal strength indications (RSSIs) from the anchor node and the virtual anchor node, determining an RSSI standard deviation based on the obtained RSSIs; and
calculating a location of the target node based on the determined RSSI difference.
11. The mobile device of claim 10, wherein calculating the location of the target node based on the determined RSSI difference comprises:
removing untrusted nodes from the discovered anchor nodes and virtual anchor nodes based on the determined RSSI standard deviations; and
the location of the target node is determined based on the trusted anchor node and the virtual location.
12. The mobile device of claim 11, wherein removing untrusted nodes from the discovered anchor nodes and virtual anchor node lengths comprises:
calculating a score for each valid node of the anchor node and the virtual anchor node based on the SPEB of the RSSI standard deviation; and
determining an untrusted node of the anchor node and a virtual anchor node based on the computed scores of the anchor node and the virtual anchor node.
13. The mobile device of claim 12, wherein the predetermined time is 0.5 seconds and the number of readings is 5.
14. A mobile device, comprising:
a processor; and
a memory having executable instructions stored therein, the processor executing the executable instructions to perform operations comprising:
transmitting a Bluetooth signal to a target node within an indoor space for the target node to determine its own position indoors,
the mobile device serves as a virtual anchor node to send a Bluetooth signal to the target node, so that the target node performs indoor positioning on the target node according to the Bluetooth signals sent by the anchor node and the virtual anchor node to determine the position of the target node based on cooperative positioning of the anchor node and the virtual anchor node.
15. A method for implementing indoor position location of a target node based on cooperative location of an anchor node and a virtual anchor node, comprising:
transmitting, by one or more anchor nodes, a Bluetooth signal;
transmitting, by one or more virtual anchor nodes, a Bluetooth signal to a target node; and
receiving, by a target node, Bluetooth signals from the anchor node and the virtual anchor node, and determining a location of the target node indoors based on the received Bluetooth signals from the anchor node and the Bluetooth signals from the virtual anchor node.
16. The indoor position location method of claim 15, wherein the virtual anchor node is a mobile device.
17. The indoor position location method of claim 15, wherein the target node is a mobile device of a user.
18. An indoor positioning method of a target node, wherein the target node realizes indoor positioning of itself through cooperative positioning based on an anchor node and a virtual anchor node, the method comprising:
the target node reads for multiple times in the indoor space within preset time to discover an anchor node and a virtual anchor node;
obtaining corresponding signal strength indications (RSSIs) from the anchor node and the virtual anchor node, determining an RSSI standard deviation based on the obtained RSSIs; and
calculating a location of the target node based on the determined RSSI difference.
19. The indoor positioning method of claim 18, wherein calculating the location of the target node based on the determined RSSI difference comprises:
removing untrusted nodes from the discovered anchor nodes and virtual anchor nodes based on the determined RSSI standard deviations; and
and determining the location of the target node based on the trusted anchor node and the virtual location.
20. The indoor positioning method of claim 18, wherein removing untrusted nodes from the discovered anchor nodes and virtual anchor node lengths comprises:
calculating a score for each valid node of the anchor node and the virtual anchor node based on the SPEB of the RSSI standard deviation; and
determining an untrusted node of the anchor node and a virtual anchor node based on the computed scores of the anchor node and the virtual anchor node.
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