CN113115207A - Indoor positioning method, device, equipment and computer readable storage medium - Google Patents
Indoor positioning method, device, equipment and computer readable storage medium Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- 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
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Abstract
The invention discloses an indoor positioning method, an indoor positioning device, indoor positioning equipment and a computer readable storage medium, wherein the indoor positioning method comprises the following steps: acquiring all first beacon signals received by a Bluetooth array, and determining initial distances between intelligent equipment and all terminals corresponding to the Bluetooth array according to the first beacon signals; determining all second beacon signals received by the intelligent equipment, and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals; and adjusting each initial distance according to each theoretical distance to obtain all target distances, and determining indoor position information of the intelligent equipment according to each target distance. The invention improves the accuracy of indoor positioning.
Description
Technical Field
The present invention relates to the field of communications network technologies, and in particular, to an indoor positioning method, apparatus, device, and computer-readable storage medium.
Background
With the rapid development of data services and multimedia services, people increasingly demand positioning and navigation, and especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots and other environments, it is often necessary to determine the indoor position information of an intelligent terminal (such as an express delivery cabinet). However, due to the limitations of Positioning time, Positioning accuracy, and complex indoor environment, it is difficult to position both GPS (Global Positioning System) and beidou navigation Positioning System indoors. That is, since the microwave signal emitted by the positioning system constellation is too weak and has a high frequency, i.e. it is propagated along a straight line and is difficult to pass through a wall, the signal cannot be received indoors, and indoor positioning cannot be performed. Therefore, how to improve the accuracy of indoor positioning becomes a technical problem to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide an indoor positioning method, device, equipment and computer readable storage medium, aiming at solving the technical problem of improving the accuracy of indoor positioning.
In order to achieve the above object, the present invention provides an indoor positioning method, including the steps of:
acquiring all first beacon signals received by a Bluetooth array, and determining an initial distance between intelligent equipment and a terminal corresponding to the Bluetooth array according to the first beacon signals;
determining all second beacon signals received by the intelligent equipment, and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals;
and adjusting each initial distance according to each theoretical distance to obtain all target distances, and determining indoor position information of the intelligent equipment according to each target distance.
Optionally, the step of adjusting each initial distance according to each theoretical distance to obtain all target distances includes:
sequentially traversing each initial distance, determining a traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if not, adjusting the traversed initial distance according to the traversed theoretical distance, and taking the adjusted initial distance as a target distance.
Optionally, the step of determining an initial distance between the smart device and the terminal corresponding to the bluetooth array according to each of the first beacon signals includes:
demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulated signal corresponding to each first beacon signal;
and determining a target signal corresponding to each first beacon signal according to each demodulated signal, and determining an initial distance between the intelligent device and a terminal corresponding to the Bluetooth array according to each target signal.
Optionally, the step of determining an initial distance between the smart device and the terminal corresponding to the bluetooth array according to each of the target signals includes:
determining the device position coordinates of the intelligent device in a preset position coordinate system according to the target signals;
and determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and each terminal according to the device position coordinates and each initial position coordinate.
Optionally, the step of determining a target signal corresponding to each first beacon signal according to each demodulated signal includes:
and denoising each demodulated signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
Optionally, the step of calculating a theoretical distance between the smart device and each of the terminals according to each of the second beacon signals includes:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking the calculated calculation result as the theoretical distance between the intelligent equipment and the terminal corresponding to the traversed second beacon signal.
Optionally, the step of calculating according to a preset signal attenuation model, the signal strength, and the transmission frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal includes:
and determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
In addition, to achieve the above object, the present invention also provides an indoor positioning apparatus including:
the acquisition module is used for acquiring all first beacon signals received by the Bluetooth array and determining the initial distance between the intelligent equipment and the terminal corresponding to the Bluetooth array according to the first beacon signals;
the calculation module is used for determining all second beacon signals received by the intelligent equipment and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals;
and the adjusting module is used for adjusting each initial distance according to each theoretical distance so as to obtain all target distances and determining the indoor position information of the intelligent equipment according to each target distance.
In addition, to achieve the above object, the present invention also provides an indoor positioning apparatus, including: a memory, a processor and an indoor positioning program stored on the memory and executable on the processor, the indoor positioning program when executed by the processor implementing the steps of the indoor positioning method as described above.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having an indoor positioning program stored thereon, where the indoor positioning program, when executed by a processor, implements the steps of the indoor positioning method as described above.
According to the method, the initial distance between the intelligent device and each terminal is determined according to each first beacon signal received by the Bluetooth array, the theoretical distance between the intelligent device and each terminal is calculated according to all second beacon signals received by the intelligent device, each initial distance is adjusted according to each theoretical distance to obtain each target distance, and then the indoor position information of the intelligent device is determined according to each target distance. Therefore, the phenomenon that indoor positioning cannot be carried out or the indoor positioning effect is poor in the prior art is avoided, and the accuracy of indoor positioning is improved.
Drawings
FIG. 1 is a schematic diagram of an indoor positioning device of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a first embodiment of an indoor positioning method according to the present invention;
FIG. 3 is a schematic view of an apparatus module of the indoor positioning apparatus according to the present invention;
FIG. 4 is a signal attenuation diagram in the indoor positioning method of the present invention;
fig. 5 is a schematic view of a scene in the indoor positioning method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of an indoor positioning device in a hardware operating environment according to an embodiment of the present invention.
The indoor positioning device in the embodiment of the present invention may be a terminal device such as a PC or a server (e.g., an X86 server) that is equipped with a virtualization platform.
As shown in fig. 1, the indoor positioning apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an indoor positioning program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke an indoor positioning program stored in the memory 1005 and perform operations in the following indoor positioning method embodiments.
Based on the hardware structure, the embodiment of the indoor positioning method is provided; the indoor positioning method is applied to assisting a user in quickly finding the positions of indoor intelligent cabinets such as express cabinets, storage cabinets and the like. The indoor positioning method of the present embodiment is specifically described below.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of an indoor positioning method according to the present invention, the indoor positioning method includes:
step S10, acquiring all first beacon signals received by the Bluetooth array, and determining the initial distance between the intelligent device and the terminal corresponding to the Bluetooth array according to the first beacon signals;
because current positioning system is difficult to fix a position at indoor, can't help the user to seek the intelligent terminal that the user needs to look for fast, like intelligent express delivery cabinet. Therefore, the user can conveniently and quickly find the place where the cabinet for storing articles is located, the time for the user to search the cabinet is shortened, and the accuracy of indoor positioning is improved. In this embodiment, an indoor positioning system can be provided, and this indoor positioning system can be intelligent express delivery cabinet system. Moreover, in this embodiment, the intelligent terminal may include an intelligent express delivery cabinet, a terminal capable of sending a signal (such as a bluetooth signal, a wifi signal, etc.) such as a smart phone. In the present embodiment, the intelligent express cabinet is merely illustrated.
And the indoor positioning system comprises beacons (which can be communication modules such as 4G or 5G and the like on an industrial personal computer of the intelligent express delivery cabinet and a Bluetooth module, and each beacon at least corresponds to one intelligent terminal) and intelligent equipment. Wherein, the beacon is used for sending out a beacon signal (such as wifi signal and bluetooth signal). The intelligent device is used for receiving beacon signals sent by the beacons, and the beacon signals pass through a receiving device and positioning software or a WeChat applet and the like in the intelligent device. Positioning software or a wechat applet calculates all intelligent terminals (such as an intelligent express cabinet) near the intelligent device through beacon signals and motion data sent by the beacons so as to realize accurate positioning of the intelligent device.
In this embodiment, the position where each beacon is set may be any position set indoors and may be set on different floors, but the distance between two adjacent beacons is not greater than the data reception range where the receiving device in the smart device receives the beacon signal. Also in this embodiment the first beacon signal may be a bluetooth signal and the second beacon signal may be a wifi signal. The smart device may be a terminal, such as a smart phone, capable of receiving beacon signals. The receiving device can be a Bluetooth and wifi device carried by the smart phone.
And the wifi positioning is to arrange a wireless hotspot in an indoor area, and determine the coordinate of the wifi equipment to be positioned according to the signal intensity characteristic of the wifi equipment to be positioned and the topological structure of the wireless hotspot. The bluetooth positioning is based on RSSI (Received Signal Strength Indication) Signal Strength positioning, namely, bluetooth beacons are laid in an indoor area, a router transmits signals, bluetooth equipment receives and feeds back the signals, and when intelligent equipment enters the range, the distance between the bluetooth equipment in the system is estimated. And can synthesize two kinds of locate mode of wifi location and bluetooth location in this embodiment to improve the accuracy of indoor location.
Therefore, in this embodiment, a plurality of beacons capable of transmitting bluetooth signals are set in an indoor environment, a bluetooth array, such as a bluetooth matrix array, is set, the positioning software or the wechat applet of the smart device is started, and the beacon signals transmitted by the beacons, such as the first beacon signal and the second beacon signal, received by the bluetooth matrix array are automatically acquired through the positioning software or the wechat applet. In this embodiment, the first beacon signal may be a bluetooth signal, the second beacon signal may be a wifi signal, and the smart device may receive all the first beacon signals transmitted by the beacon, and the wifi search function in the smart device may be turned on to search for the second beacon signal (e.g., wifi signal) transmitted by the beacon. And there may be a plurality of first beacon signals and a plurality of second beacon signals received. Therefore, all the first beacon signals can be demodulated and processed, and the target signals after the demodulation and denoising of the first beacon signals can be determined according to the result of the demodulation and processing. Moreover, when receiving the signal transmitted by the beacon, the smart device receives an interference signal in addition to the first beacon signal, so that the signal received by the smart device needs to be demodulated to obtain the target signal. The target signal may be a signal having a data frame format, such as a bluetooth data frame format. The demodulation may be performed by limiting the spectral width of the first beacon signal with a gaussian low pass filter before modem demodulation to obtain the demodulated signal value. It should be noted that, in this embodiment, the number of the first beacon signal and the second beacon signal is the same, and the type of the first beacon signal is different from the type of the second beacon signal.
After each target signal is obtained through calculation, the intelligent device may determine an initial position coordinate of an intelligent terminal (i.e., a terminal corresponding to the bluetooth array, such as an intelligent express cabinet) corresponding to each target signal in a position coordinate system set in advance, determine a device position coordinate of the intelligent device in the position coordinate system, and then calculate a linear distance between the device position coordinate and the initial position coordinate, and use the linear distance as the initial distance. It should be noted that, when there is one target signal, the initial distance is directly calculated according to the initial position coordinates and the device position coordinates corresponding to the target signal. When a plurality of target signals exist, a terminal where a beacon corresponding to each target signal is located (i.e., an intelligent terminal corresponding to the target signal) needs to be determined first, each target signal is traversed, a linear distance between an initial position coordinate corresponding to the traversed target signal and an equipment position coordinate is calculated, and the linear distance is used as the initial distance between the terminal where the beacon corresponding to the traversed target signal is located and the intelligent equipment.
Step S20, determining all second beacon signals received by the smart device, and calculating a theoretical distance between the smart device and each of the terminals according to each of the second beacon signals;
in this embodiment, the smart device may also actively turn on its signal function of receiving the second beacon signal, so that the smart device may receive the second beacon signal sent by each terminal in real time, for example, the smart device receives wifi signals sent by each terminal. And when the intelligent device is determined to receive the second beacon signal, the theoretical distance is calculated according to the received second beacon signal, so that the initial distance is corrected according to the theoretical distance, and the target distance is obtained. Therefore, the signal attenuation model set in advance can be determined, and the signal strength of the second beacon signal received by the smart device, such as the signal strength of a wifi signal received by the smart phone, can be determined. And inputting the signal intensity into a signal attenuation model for calculation, and taking a value output by the signal attenuation model as a theoretical distance between the intelligent device and a terminal (namely an intelligent terminal) corresponding to the second beacon signal. Also in this embodiment, since the number of the first beacon signals and the second beacon signals is the same, each of the smart terminals may transmit the first beacon signals and the second beacon signals. Therefore, the number of the second beacon signals received by the smart device may also be multiple, but the theoretical distance corresponding to each second beacon signal is calculated in the same manner, and the calculation can be performed according to a signal attenuation model.
In one embodiment, the calculation formula of the signal attenuation model may be Lbs ═ 32.45+20lgF +20lgD, where F is frequency; d is distance in MHz; lbs is loss value in km. For example, a wireless router of 100mv has a transmit power of 20dbm and a signal strength of 20-Lbs when the smart device is 10m from the wireless router. For another example, as shown in fig. 4, the free space 2.4Ghz signal attenuation map has a signal attenuation value of 60db when the smart device is located at a distance of 10m from the smart terminal.
Step S30, adjusting each of the initial distances according to each of the theoretical distances to obtain all of the target distances, and determining indoor location information of the smart device according to each of the target distances.
After the theoretical distances and the initial distances between the intelligent device and each intelligent terminal are obtained through calculation, each initial distance can be adjusted according to each theoretical distance, namely, the initial distance corresponding to each theoretical distance can be determined firstly, and then the initial distance is adjusted according to the theoretical distance corresponding to the initial distance until the initial distance is adjusted to be the same as the theoretical distance or the error is smaller than a certain value. And taking the adjusted initial distance as the target distance. And after the target distance between the intelligent device and each terminal is determined, the distance between the intelligent device and each terminal can be directly used as the indoor position information of the intelligent device.
In addition, to assist understanding of indoor positioning in this embodiment, the following description illustrates that, as shown in fig. 5, A, B, C, D, E five intelligent terminals are included, and the five terminals are respectively provided with corresponding beacons, and are connected to the network through the router and an external server cluster, and each beacon is connected to the router through the network. In addition, a Bluetooth matrix array is firstly arranged indoors, and positioning software or a WeChat applet in the mobile device (namely intelligent device) automatically searches for signals of beacons (wifi and Bluetooth of an intelligent express cabinet), wherein the wifi signals are an auxiliary means for signal positioning; positioning software or a WeChat applet of the intelligent device acquires a first signal sent by a Bluetooth matrix array (namely a beacon), the first signal comprises a Bluetooth signal and an interference signal, the first signal is demodulated, noise interference is removed through a denoising device in the mobile device, a demodulated and denoised second signal is obtained, and a signal with a Bluetooth data frame format in the second signal is used as Bluetooth data received by an indoor Bluetooth array; calculating the initial position and the walking path of the mobile equipment from the intelligent express delivery cabinet according to the signal with the Bluetooth data frame format; and inputting the signal intensity of the wifi signal searched by the mobile device wifi into the signal attenuation model for calculation to obtain a theoretical position, and adjusting the initial position and the walking path according to the theoretical position.
Based on the above description of the embodiment of the indoor positioning method, when the intelligent cabinets such as the indoor express cabinets and the indoor storage cabinets are positioned, the bluetooth function and the wifi function of each express cabinet can be started first. And send bluetooth signal and wifi signal to the periphery through the intelligent terminal of each express delivery cabinet self. When a user holds an intelligent device (such as a mobile phone) indoors, the intelligent device receives Bluetooth signals sent by each express delivery cabinet, demodulates and denoises the received Bluetooth signals to obtain signals with a Bluetooth data frame format, directly determines initial position coordinates of the signals with the Bluetooth data frame format in a preset position coordinate system and device position coordinates of the intelligent device if the signals with the Bluetooth data frame format are multiple, and determines distances between the intelligent device and each express delivery cabinet according to the initial position coordinates and the device position coordinates so that the user can quickly inquire the express delivery cabinet to be used.
In this embodiment, an initial distance between an intelligent device and a terminal corresponding to a bluetooth array is determined according to all first beacon signals received by the bluetooth array by acquiring all the first beacon signals; determining all second beacon signals received by the intelligent equipment, and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals; and adjusting each initial distance according to each theoretical distance to obtain all target distances, and determining indoor position information of the intelligent equipment according to each target distance. The method comprises the steps of determining initial distances between the intelligent device and each terminal according to each first beacon signal received by the Bluetooth array, calculating theoretical distances between the intelligent device and each terminal according to all second beacon signals received by the intelligent device, adjusting each initial distance according to each theoretical distance to obtain each target distance, and determining indoor position information of the intelligent device according to each target distance. Therefore, the phenomenon that indoor positioning cannot be carried out or the indoor positioning effect is poor in the prior art is avoided, and the accuracy of indoor positioning is improved.
Further, based on the first embodiment of the present invention, a second embodiment of the indoor positioning method of the present invention is provided, in this embodiment, step S30 in the above embodiment, the step of adjusting each initial distance according to each theoretical distance to obtain a target distance includes:
step a, sequentially traversing each initial distance, determining a traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
in this embodiment, after the theoretical distances and the initial distances between the intelligent device and each intelligent terminal are obtained through calculation, each initial distance may be traversed sequentially, and a theoretical distance corresponding to the traversed initial distance is determined in each theoretical distance and is used as the traversed theoretical distance. Namely, the intelligent terminal corresponding to the traversed initial distance is determined, the second beacon signal sent by the intelligent terminal is determined, and the theoretical distance corresponding to the second beacon signal is determined and taken as the traversed theoretical distance. And then detecting whether the traversed initial distance is matched with the traversed theoretical distance or not, and executing different operations according to different detection results.
And b, if not, adjusting the traversed initial distance according to the traversed theoretical distance, and taking the adjusted initial distance as a target distance.
When the traversed initial distance is judged to be matched with the traversed theoretical distance, the traversed initial distance is determined to be equal to the traversed theoretical distance, or the difference value between the traversed initial distance and the traversed theoretical distance is smaller than a certain value, and at the moment, the traversed initial distance can be directly used as the target distance between the terminal corresponding to the traversed initial distance and the intelligent device. If the traversed initial distance does not match the traversed theoretical distance, the traversed initial distance can be adjusted according to the traversed theoretical distance until the traversed initial distance is adjusted to be the same as the traversed theoretical distance or the difference between the traversed initial distance and the traversed theoretical distance is smaller than a certain value, and then the adjusted initial distance is used as the target distance.
In this embodiment, each initial distance is traversed, and when it is determined that the traversed initial distance does not match the traversed theoretical distance, the traversed initial distance is adjusted according to the traversed theoretical distance, and the adjusted initial distance is used as the target distance, so that the accuracy of the obtained target distance is ensured.
Further, the step of determining an initial distance between the intelligent device and the terminal corresponding to the bluetooth array according to each target signal includes:
step c, demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulated signal corresponding to each first beacon signal;
in this embodiment, after the smart device acquires the first beacon signal transmitted by the beacon and determines that there are multiple received first beacon signals, it is necessary to demodulate each first beacon signal, and the demodulation processing may be performed by limiting the spectrum width of the first beacon signal through a gaussian low-pass filter before modulation and demodulation, so as to obtain a demodulated signal value, that is, a demodulated signal corresponding to the first beacon signal. In this embodiment, each first beacon signal is demodulated in the same manner to obtain a demodulated signal corresponding to each first beacon signal.
And d, determining a target signal corresponding to each first beacon signal according to each demodulated signal, and determining an initial distance between the intelligent device and the terminal corresponding to the Bluetooth array according to each target signal.
After the demodulated signals corresponding to the first beacon signals are obtained, denoising processing needs to be performed on each demodulated signal, and a data signal having a data frame format (such as a data signal having a bluetooth data frame format) in each demodulated signal after denoising processing is used as a target signal. And traversing each target signal when a plurality of target signals exist, calculating a straight-line distance between an initial position coordinate corresponding to the traversed target signal and the position coordinate of the equipment, and taking the straight-line distance as the initial distance between a terminal where a beacon corresponding to the traversed target signal is located and the intelligent equipment.
In this embodiment, each first beacon signal is demodulated according to a preset frequency spectrum width to obtain each demodulated signal, a target signal is determined according to each demodulated signal, and an initial distance between the intelligent device and each terminal is determined according to the target signal, so that the effectiveness of the obtained initial distance is ensured.
Specifically, the step of determining an initial distance between the smart device and the terminal corresponding to the bluetooth array according to each of the target signals includes:
step e, determining the device position coordinates of the intelligent device in a preset position coordinate system according to the target signals;
after the intelligent device obtains each target signal, the intelligent device may first determine an initial position coordinate of an intelligent terminal (i.e., a terminal where each beacon is located) corresponding to each target signal in a position coordinate system set in advance, and determine a device position coordinate of the intelligent device in the position coordinate system.
And f, determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and each terminal according to the device position coordinates and each initial position coordinate.
In this embodiment, it is also necessary to determine the position coordinates, i.e., initial position coordinates, of the terminal corresponding to each target signal (i.e., the terminal corresponding to the bluetooth array) in the position coordinate system, calculate the linear distances between each initial position coordinate and the device position coordinates, and use these linear distances as the initial distances between the smart device and the terminals where the beacons are located.
In this embodiment, the position coordinates corresponding to each beacon are determined, the device position coordinates of the intelligent device in the position coordinate system are determined, and the initial distance between the intelligent device and the terminal where each beacon is located is calculated according to the initial position coordinates of the terminal corresponding to each target signal and the device coordinates, so that the accuracy of the obtained initial distance is guaranteed.
Specifically, the step of determining a target signal corresponding to each first beacon signal according to each demodulated signal includes:
and m, denoising each demodulated signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
In this embodiment, after each first beacon signal is demodulated to obtain each demodulated signal, each demodulated signal needs to be denoised to remove a noise signal in each demodulated signal, and after the denoising process is completed, a denoised received signal is obtained, and a data signal with a data frame format in the received signal is used as a target signal.
In this embodiment, a received signal is obtained by performing denoising processing on each demodulated signal, and a data signal having a data frame format in the received signal is taken as a target signal. Thereby ensuring the effectiveness of the acquired target signal.
Further, the step of calculating a theoretical distance between the smart device and each of the terminals according to each of the second beacon signals includes:
step e, traversing each second beacon signal, determining the signal intensity of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
in this embodiment, after the intelligent device acquires each second beacon signal, the intelligent device may sequentially traverse each second beacon signal, and determine the signal strength of the traversed second beacon signal, where the signal strength may be directly detected and determined according to a signal strength detection device packaged in the intelligent device. In this embodiment, the transmission frequency of the traversed second beacon signal also needs to be acquired, and the determination of the transmission frequency may be determined according to the power of the beacon transmitting the second beacon signal. While the power of the beacon may be determined in advance.
And f, calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
After the second beacon signal is obtained, a signal attenuation model set in advance needs to be obtained, then the signal intensity and the transmitting frequency are input into the signal attenuation model for calculation, and the calculated calculation result is used as the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal.
In this embodiment, the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal is obtained by traversing each second beacon signal and calculating according to the signal intensity, the transmission frequency and the preset signal attenuation model of the traversed second beacon signal, so that the accuracy of the calculated theoretical distance is ensured.
Specifically, the step of calculating according to a preset signal attenuation model, the signal strength, and the transmission frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal includes:
and g, determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
In this embodiment, a calculation formula of a signal attenuation model set in advance needs to be determined, that is, Lbs is 32.45+20lgF +20lgD, where F is frequency, D is distance, and Lbs is a signal loss value. And substituting the acquired signal strength and the acquired transmitting frequency into the formula to calculate to obtain the distance of the intelligent device, and taking the calculated distance as the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal.
In this embodiment, the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal is obtained by determining the calculation formula of the signal attenuation model and inputting the signal intensity and the transmission frequency into the calculation formula for calculation, so that the accuracy of the calculated theoretical distance is ensured.
Referring to fig. 3, the present invention further provides an indoor positioning device, in this embodiment, the indoor positioning device includes:
an obtaining module a10, configured to determine an initial distance between an intelligent device and a terminal corresponding to a bluetooth array according to all first beacon signals received by the bluetooth array;
a calculating module a20, configured to determine all second beacon signals received by the smart device, and calculate a theoretical distance between the smart device and each terminal according to each second beacon signal;
an adjusting module a30, configured to adjust each initial distance according to each theoretical distance to obtain all target distances, and determine indoor location information of the smart device according to each target distance.
Optionally, the adjusting module a30 is configured to:
sequentially traversing each initial distance, determining a traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if not, adjusting the traversed initial distance according to the traversed theoretical distance, and taking the adjusted initial distance as a target distance.
Optionally, the obtaining module a10 is configured to:
demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulated signal corresponding to each first beacon signal;
and determining a target signal corresponding to each first beacon signal according to each demodulated signal, and determining an initial distance between the intelligent device and a terminal corresponding to the Bluetooth array according to each target signal.
Optionally, the obtaining module a10 is configured to:
determining the device position coordinates of the intelligent device in a preset position coordinate system according to the target signals;
and determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and each terminal according to the device position coordinates and each initial position coordinate.
Optionally, the obtaining module a10 is configured to:
and denoising each demodulated signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
Optionally, a calculating module a20, configured to:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking the calculated calculation result as the theoretical distance between the intelligent equipment and the terminal corresponding to the traversed second beacon signal.
Optionally, a calculating module a20, configured to:
and determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
The method for implementing the functional modules can refer to the embodiment of the indoor positioning method of the present invention, and is not described herein again.
The present invention also provides an indoor positioning apparatus, including: a memory, a processor, a communication bus, and an indoor positioning program stored on the memory:
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is configured to execute the indoor positioning program to implement the steps of the embodiments of the indoor positioning method.
The invention also provides a computer readable storage medium.
The present computer readable storage medium has stored thereon an indoor positioning program, which when executed by a processor implements the steps of the indoor positioning method as described above.
The method implemented when the indoor positioning program running on the processor is executed may refer to each embodiment of the indoor positioning method of the present invention, and details are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An indoor positioning method, characterized by comprising the steps of:
acquiring all first beacon signals received by a Bluetooth array, and determining initial distances between intelligent equipment and all terminals corresponding to the Bluetooth array according to the first beacon signals;
determining all second beacon signals received by the intelligent equipment, and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals;
and adjusting each initial distance according to each theoretical distance to obtain all target distances, and determining indoor position information of the intelligent equipment according to each target distance.
2. The indoor positioning method of claim 1, wherein the step of adjusting each of the initial distances according to each of the theoretical distances to obtain all of the target distances comprises:
sequentially traversing each initial distance, determining a traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if not, adjusting the traversed initial distance according to the traversed theoretical distance, and taking the adjusted initial distance as a target distance.
3. The indoor positioning method of claim 1, wherein the step of determining an initial distance between a smart device and a terminal corresponding to the bluetooth array according to each of the first beacon signals comprises:
demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulated signal corresponding to each first beacon signal;
and determining a target signal corresponding to each first beacon signal according to each demodulated signal, and determining an initial distance between the intelligent device and a terminal corresponding to the Bluetooth array according to each target signal.
4. The indoor positioning method of claim 3, wherein the step of determining an initial distance between a smart device and a terminal corresponding to the Bluetooth array according to each of the target signals comprises:
determining the device position coordinates of the intelligent device in a preset position coordinate system according to the target signals;
and determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and each terminal according to the device position coordinates and each initial position coordinate.
5. The indoor positioning method of claim 3, wherein the step of determining a target signal corresponding to each of the first beacon signals from each of the demodulated signals comprises:
and denoising each demodulated signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
6. The indoor positioning method according to any one of claims 1 to 5, wherein the step of calculating the theoretical distance between the smart device and each of the terminals based on each of the second beacon signals comprises:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking the calculated calculation result as the theoretical distance between the intelligent equipment and the terminal corresponding to the traversed second beacon signal.
7. The indoor positioning method of claim 6, wherein the step of calculating according to a preset signal attenuation model, the signal strength and the transmitting frequency and using the calculated calculation result as a theoretical distance between the smart device and the terminal corresponding to the traversed second beacon signal comprises:
and determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
8. An indoor positioning device, characterized in that, indoor positioning device includes:
the acquisition module is used for acquiring all first beacon signals received by the Bluetooth array and determining the initial distance between the intelligent equipment and the terminal corresponding to the Bluetooth array according to the first beacon signals;
the calculation module is used for determining all second beacon signals received by the intelligent equipment and calculating theoretical distances between the intelligent equipment and the terminals according to the second beacon signals;
and the adjusting module is used for adjusting each initial distance according to each theoretical distance so as to obtain all target distances and determining the indoor position information of the intelligent equipment according to each target distance.
9. An indoor positioning apparatus, characterized in that the indoor positioning apparatus includes: memory, a processor and an indoor positioning program stored on the memory and executable on the processor, the indoor positioning program when executed by the processor implementing the steps of the indoor positioning method of any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon an indoor positioning program, which when executed by a processor, implements the steps of the indoor positioning method of any one of claims 1 to 7.
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