CN113267193A - Indoor accurate positioning networking system and method based on ultrasonic beacon - Google Patents
Indoor accurate positioning networking system and method based on ultrasonic beacon Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The invention discloses an indoor accurate positioning networking system and method based on an ultrasonic beacon, wherein the method comprises the following steps of S1: after receiving a signal of a navigation system, relay equipment located outdoors acquires position information of the relay equipment; s2: the first ultrasonic module interacts with the relay equipment through ultrasonic signals to obtain the position information of each ultrasonic beacon in the first ultrasonic module; wherein one ultrasound module comprises at least three ultrasound beacons; wherein the relative position of each ultrasound beacon in one ultrasound module is known; s3: the first ultrasonic module in step S2 interacts with the smart device through the ultrasonic signal to obtain the location information of the smart device. The invention can realize accurate positioning in places without satellite signals or satellite signal differences, and can seamlessly connect a navigation system and an ultrasonic positioning function according to an application scene based on the same coordinate system, so that the practicability of ultrasonic positioning is stronger.
Description
Technical Field
The invention relates to an indoor accurate positioning networking system and method based on an ultrasonic beacon, and belongs to the technical field of ultrasonic positioning.
Background
The Global Positioning System (GPS) is a high-precision radio navigation Positioning System based on artificial earth satellites, which can provide precise geographical position, moving speed and time information anywhere in the world and in the near-earth space. In fact, in the existing navigation system, not only the GPS but also the beidou satellite positioning system and even the wireless network are applied.
In order to solve the problem, a network Assisted Global Positioning System (AGPS) is extended, and the problems of low satellite searching speed and low positioning accuracy of the GPS technology are solved by means of a cellular base station on the ground.
However, AGPS also has certain limitations, firstly, it must be supported by an AGPS location server to process data of GPS satellites, cellular base stations and located devices and complete docking, and secondly, GPS satellite signals are still not received indoors, and accurate indoor location cannot be realized.
At present, the position of the mobile device is accurately sensed by transmitting and receiving ultrasonic sound waves between a plurality of ultrasonic beacons and the mobile device by using a time of arrival (TOA) method or a time difference of arrival (TDOA) method, but the position of the mobile device sensed by the ultrasonic beacons is a positioning coordinate established relative to the position of the ultrasonic beacons, the application scenes are limited, the mobile device cannot be connected with a navigation system, and when the mobile device is used by a user, the mobile device needs to be switched according to the environment.
Disclosure of Invention
The invention aims to provide an indoor accurate positioning networking system and method based on an ultrasonic beacon, which not only solve the problem of poor indoor positioning effect of a positioning system based on a satellite in the prior art, but also solve the problems that the ultrasonic beacon cannot complete self positioning, the ultrasonic beacon positioning system cannot be directly connected with a navigation system, and the switching is troublesome.
In order to achieve the purpose, the invention adopts the technical scheme that: an indoor accurate positioning networking system based on an ultrasonic beacon comprises:
the navigation system is used for positioning navigation;
the relay equipment is connected with the navigation system and used for acquiring self position information;
the ultrasonic module is in ultrasonic connection with the relay equipment and is used for acquiring self position information, and the ultrasonic module is at least provided with 3 ultrasonic beacons;
and the intelligent equipment is in ultrasonic connection with the ultrasonic module and is configured for acquiring position information within the coverage range of the ultrasonic module.
The further improved scheme in the technical scheme is as follows:
1. in the above aspect, the ultrasound module is arranged in plurality.
2. In the above scheme, the plurality of ultrasound beacons in the ultrasound module are arranged in a topological structure.
3. In the above scheme, one of the ultrasound modules has 4 ultrasound beacons.
In order to achieve the above purpose, the invention also provides a technical scheme that: an indoor accurate positioning method based on an ultrasonic beacon comprises the following steps:
s1: after the relay equipment receives the signal of the navigation system, the position information of the relay equipment is obtained;
s2: the first ultrasonic module interacts with the relay equipment through ultrasonic signals to obtain the position information of each ultrasonic beacon in the first ultrasonic module;
wherein one ultrasound module comprises at least three ultrasound beacons;
wherein the relative position of each ultrasound beacon in one ultrasound module is known;
s3: the first ultrasonic module in step S2 interacts with the smart device through the ultrasonic signal to obtain the location information of the smart device.
1. In the above scheme, the intelligent device in step S3 interacts with the second ultrasound module to obtain the location information of each ultrasound beacon in the second ultrasound module, the second ultrasound module interacts with another intelligent device to obtain the location information of another intelligent device, the another intelligent device interacts with the third ultrasound module to obtain the location information of each ultrasound beacon in the third ultrasound module, and the location information of any intelligent device in the coverage area of the ultrasound module is obtained through sequential transmission.
2. In the above scheme, the location information includes a longitude and a latitude.
3. In the above scheme, the interaction method between the relay device and the first ultrasound module includes the following steps:
the interaction method of the relay equipment and the first ultrasonic module comprises the following steps:
the ultrasonic beacon of the first ultrasonic module sends out an ultrasonic signal;
after the relay equipment listens to a direct ultrasonic signal sent by an ultrasonic beacon, calculating a relative distance;
an origin (0,0,0) is taken on the first ultrasonic module, and the coordinate of the ultrasonic beacon is (x) according to the known position relation of the ultrasonic beacon1，y1，z1)、(x2，y2，z2)、(x3，y3，z3)……(xn，yn，zn) When the relative distance and the ultrasonic beacon coordinate are known, the coordinate (x) of the relay equipment can be obtained through the positioning function0，y0，z0)；
And the relay equipment receives the position coordinates (x, y, z) of the navigation system, and can calculate the position coordinates (x-x) of the origin in the coordinate system of the navigation system0，y-y0，z-z0)；
Further, the position coordinate (x) of the ultrasonic beacon in the ultrasonic module in the navigation system is obtained according to the known position relation of the ultrasonic beacon1′，y1′，z1′)、(x2′，y2′，z2′)、(x3′，y3′，z3′)……(xn′，yn′，zn′)。
4. In the above scheme, the number of the ultrasound beacons in one ultrasound module is 4.
5. In the above scheme, the ultrasound module communicates with the relay device/smart device via bluetooth communication.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. the invention relates to an indoor precise positioning networking system and method based on an ultrasonic beacon, which receive position information from a navigation system through relay equipment positioned outdoors so as to obtain position information based on satellite coordinates, reversely calculate the position information of the ultrasonic beacon in the navigation system in an ultrasonic module by utilizing the interaction between the relay equipment and a close ultrasonic module, and further calculate the position information of intelligent equipment in the navigation system after the ultrasonic module interacts with the intelligent equipment.
2. The invention relates to an indoor accurate positioning networking system and method based on ultrasonic beacons, which are characterized in that the position information of a relay device is obtained through the interaction between the relay device and a navigation system, the position information of a first ultrasonic module is calculated through the interaction between the relay device and the first ultrasonic module, the first ultrasonic module interacts with a first intelligent device to calculate the position information of the first intelligent device, the first intelligent device can interact with other ultrasonic modules to calculate the position information of other ultrasonic modules, and the position information of other intelligent devices is solved through the position information of other ultrasonic modules and is transmitted in sequence to form an ultrasonic positioning networking.
3. The invention relates to an indoor accurate positioning networking system and method based on an ultrasonic beacon, which receives the position information of a navigation system by selecting an outdoor relay device, wherein the relay device can be a customized satellite signal receiving device and can also be any intelligent device which is positioned outdoors and is held by a user, and the system skillfully utilizes a visible smart phone everywhere without adding any hardware, thereby greatly facilitating the erection and use of positioning networking.
4. The indoor accurate positioning networking system and method based on the ultrasonic beacon can complete the recording of the position of the ultrasonic module by one-time positioning of the relay equipment and matching with the transmission of the ultrasonic positioning networking, and the ultrasonic module used last time can directly realize the positioning transmission when being used next time without the help of the relay equipment again.
5. The indoor accurate positioning networking system and method based on the ultrasonic beacon complete information interaction through low-frequency Bluetooth communication, so that an interaction object and corresponding information are verified before ultrasonic interaction, and energy consumption is reduced.
Drawings
Fig. 1 is a working schematic diagram of an indoor accurate positioning networking system based on an ultrasonic beacon.
Description of reference numerals: 1. a navigation system; 2. a relay device; 3. an ultrasound module; 31. an ultrasonic beacon; 4. and (4) intelligent equipment.
Detailed Description
Example 1: an indoor precise positioning networking system based on an ultrasonic beacon, referring to the attached figure 1, comprising:
the navigation system 1 is a comprehensive application system of a GPS, a Beidou satellite positioning system and a wireless network, is mainly used for outdoor positioning, and is a coordinate system established based on the longitude and latitude of the earth.
A relay device 2 located outdoors, wherein the relay device 2 is a customized instrument, and has a unit for receiving satellite signals and an ultrasonic transceiver unit, and is connected with the navigation system 1, and is used for acquiring and storing self-position information; wherein, select to be located outdoor relay device 2, guarantee with navigation system 1's connection stable, positional information is accurate, secondly, also can select the relay device 2 of window or gate or other positions, as long as can receive stable accurate positioning information.
And the ultrasonic module 3 is ultrasonically connected with the relay device 2, wherein the ultrasonic module 3 can only emit ultrasonic sound waves through the loudspeaker unit, can only listen to the ultrasonic sound waves through the microphone unit, and can also simultaneously have the loudspeaker unit and the microphone unit so as to acquire self-position information through interaction with the relay device 2, and the ultrasonic module 3 is provided with 3 ultrasonic beacons 31.
The intelligent device 4, here, the intelligent device 4 is a mobile intelligent terminal, has a speaker unit and a microphone unit, is carried by a positioned user or device, is in ultrasonic connection with the ultrasonic module 3, and obtains position information within the coverage area of the ultrasonic module 3 through calculation.
Example 2: an indoor accurate positioning networking system based on an ultrasonic beacon, referring to an attached figure 1, comprises a navigation system 1, a relay device 2, an ultrasonic module 3 and an intelligent device 4, wherein the navigation system 1 is a positioning system consisting of a GPS, a Beidou satellite positioning system and a wireless network, a coordinate system is formed based on the longitude and latitude of the earth, the relay device 2 is an intelligent mobile phone, a user holds the outdoor (or indoor position with satellite signals) through the coverage of the ultrasonic module 3, the relay device receives and transmits positioning signals of the navigation system 1 through the positioning function of the mobile phone to obtain the position information of the mobile phone at the moment, and the position information comprises the longitude and the latitude, and if special conditions need, the position information can be obtained.
Here, the ultrasound module 3 includes 4 ultrasound beacons 31 arranged in a topological structure, the ultrasound beacons 31 can respectively send out ultrasound sound wave signals under the action of the control module of the ultrasound module 3, the ultrasound sound wave signals are respectively sent to the middle device 2 or the smart device 4 according to requirements, and here, the smart device 4 is also a smart phone and is located at a position where satellite signals are not good.
Meanwhile, the ultrasonic modules 3 are arranged in a plurality of rooms with poor satellite signals, the coverage areas of the ultrasonic sound wave signals of the ultrasonic modules are partially overlapped and cover the whole indoor space together, so that the positioning information is transmitted in sequence by matching with indoor mobile phones to form a positioning networking system
In addition, the ultrasonic module 3 or the ultrasonic beacon 31 is provided with a Bluetooth communication module, and the mobile phone is provided with the Bluetooth communication module, so that the ultrasonic module and the mobile phone are matched by using low-frequency Bluetooth communication search, information is transmitted, and information carried by an ultrasonic sound wave signal as a carrier is reduced, thereby reducing power consumption and saving energy.
Example 3: an indoor accurate positioning method based on an ultrasonic beacon comprises the following steps:
s1: selecting an outdoor smart phone as a relay device, starting a mobile phone positioning function, receiving a positioning signal from a navigation system, and acquiring self position information;
the navigation system is a positioning system formed by integrating a GPS, a Beidou satellite positioning system and a wireless network;
the position information at least comprises longitude and latitude of the positioned equipment, altitude information can be imported when needed, and coordinates of the position information are established based on the longitude and latitude of the earth;
the outdoor area is selected to be capable of receiving the positions of the stronger satellite signals and the wireless network signals, and the relay equipment can conveniently and quickly obtain high-precision position information.
S2: the method comprises the steps that a plurality of ultrasonic modules are installed in a room with poor satellite signals, each ultrasonic module is arranged according to the optimal coverage range of the ultrasonic module, the intelligent mobile phone serving as the relay device is included in the ultrasonic coverage range of any one ultrasonic module located at a door/window position, and after the intelligent mobile phone serving as the relay device obtains position information of the intelligent mobile phone, a Bluetooth function is opened and the intelligent mobile phone is connected with a Bluetooth communication module in the ultrasonic module in a matching mode;
after connection is confirmed, the first ultrasonic module sends out ultrasonic sound wave signals through the configured ultrasonic beacons, a microphone of the smart phone serving as the relay device listens to the direct ultrasonic sound wave signals, and the relative distance R between the ultrasonic beacons and the smart phone can be calculated according to the flight time1、R2、R3……RnWhere, t is the flight time of the direct ultrasonic signal, and c is the propagation speed of the ultrasonic sound wave in the air.
Because the ultrasonic beacons in the ultrasonic module are arranged on the ultrasonic module in a topological structure, a point which is positioned on the same plane as the ultrasonic beacons is taken as an origin (0,0,0) on the ultrasonic module to establish a coordinate system, and the position of the ultrasonic beacon in the coordinate system can be obtained as x according to the known arrangement relation of the positions of the ultrasonic beacons1，y1，z1)、(x2，y2，z2)、(x3，y3，z3)……(xn，yn，zn) After the relative distance and the ultrasonic beacon coordinate are known, the position of the smart phone serving as the relay equipment in the coordinate system can be obtained as (x) through a TOA positioning function algorithm0，y0，z0)；
Meanwhile, the position of the smart phone which is known as the relay device by the navigation system in the coordinate system of the navigation system is (x, y, z), so that the position coordinate of the origin in the coordinate system of the navigation system can be calculated to be (x-x)0，y-y0，z-z0)；
Thus, the position (x) of the ultrasonic beacon in the navigation system is solved according to the known relative position relation of the ultrasonic beacon1′，y1′，z1′)、(x2′，y2′，z2′)、(x3′，y3′，z3′)……(xn′，yn′，zn′)。
Wherein one ultrasound module comprises at least three ultrasound beacons, and n is 4 for improving the positioning accuracy.
S3: the method comprises the steps that an indoor intelligent device is a smart phone, Bluetooth of the smart phone is turned on, pairing confirmation is completed with a first ultrasonic module, a plurality of ultrasonic beacons of the first ultrasonic module emit ultrasonic sound wave signals which are heard by the smart phone serving as the intelligent device, and after the position coordinates of the first ultrasonic module are known, the position coordinates of the smart phone serving as the intelligent device are obtained by using a time of arrival positioning algorithm TOA.
S4: the smart phone is paired with a second ultrasonic module near the first ultrasonic module through the Bluetooth, and the position coordinate of the second ultrasonic module is obtained by utilizing an ultrasonic positioning algorithm.
S5: the second ultrasonic module is paired with another intelligent device through Bluetooth, and the position coordinate of the other intelligent device is obtained by utilizing an ultrasonic positioning algorithm.
S6: and repeating the steps S4 and S5 to obtain the position coordinates of all the ultrasonic modules and the positioned intelligent equipment in the system.
Here, the located smart device may be outside the coverage area of the networking system formed by the ultrasound module and then delivered into another indoor area.
Here, x in the step corresponds to longitude, y corresponds to latitude, and z corresponds to altitude.
Example 4: an indoor precise positioning method based on an ultrasonic beacon comprises all the steps of embodiment 3, wherein when the time of the relay device, the intelligent device and the ultrasonic module is not synchronous, a positioning algorithm adopts a time difference of arrival (TODA) algorithm.
By adopting the scheme, the relay equipment positioned outdoors receives the position information from the navigation system, so that the position information based on the satellite coordinates is obtained, the interaction between the relay equipment and the adjacent ultrasonic module is reused, the position information of the ultrasonic beacon in the ultrasonic module in the navigation system is inversely calculated, and then the position information of the intelligent equipment in the navigation system is calculated after the ultrasonic module interacts with the intelligent equipment, so that the accurate positioning can be realized in a place without satellite signals or satellite signal differences, the navigation system and the ultrasonic positioning can be seamlessly linked according to an application scene, and the practicability of the ultrasonic positioning is stronger based on the same coordinate system.
In addition, the position information of the relay equipment is obtained through the interaction between the relay equipment and a navigation system, the position information of the first ultrasonic module is calculated through the interaction between the relay equipment and the first ultrasonic module, the first ultrasonic module interacts with the first intelligent equipment again to calculate the position information of the first intelligent equipment, the first intelligent equipment can interact with other ultrasonic modules again to calculate the position information of other ultrasonic modules, the position information of other intelligent equipment is solved through the position information of other ultrasonic modules and is transmitted in sequence to form an ultrasonic positioning networking, the positioning function is convenient for a user in a networking coverage range, the ultrasonic beacon position does not need to be measured before installation, and time and labor are saved.
In addition, the position information of the navigation system is received by selecting an outdoor relay device, wherein the relay device can be a customized satellite signal receiving device or any intelligent device which is positioned outdoors and is held by a user, the use is convenient, and no hardware is required to be additionally arranged.
In addition, the position of the ultrasonic module can be recorded by one-time positioning of the relay equipment and transmission of ultrasonic positioning networking, and the ultrasonic module used last time can directly realize positioning transmission without the help of the relay equipment again when the ultrasonic module is used next time.
In addition, information interaction is completed through low-frequency Bluetooth communication, so that an interaction object and corresponding information are verified before ultrasonic interaction, and energy consumption is reduced.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An indoor accurate positioning networking system based on an ultrasonic beacon is characterized by comprising:
a navigation system (1) for positioning navigation;
the relay equipment (2) is connected with the navigation system (1) and is used for acquiring self position information;
the ultrasonic module (3) is in ultrasonic connection with the relay equipment (2) and is used for acquiring self position information, and the ultrasonic module (3) is at least provided with 3 ultrasonic beacons (31);
and the intelligent device (4) is in ultrasonic connection with the ultrasonic module (3) and is configured to acquire position information in the coverage range of the ultrasonic module (3).
2. An ultrasound beacon based indoor precise positioning networking system according to claim 1, characterized in that the ultrasound module (3) is arranged in plurality.
3. An ultrasound beacon based indoor precise positioning networking system according to claim 1, characterized in that a plurality of ultrasound beacons (31) in the ultrasound module (3) are arranged in a topological structure.
4. An ultrasound beacon based indoor precise positioning networking system according to claim 1, characterized in that one said ultrasound module (3) has 4 ultrasound beacons (31).
5. An indoor accurate positioning method based on an ultrasonic beacon is characterized by comprising the following steps:
s1: after the relay equipment receives the signal of the navigation system, the position information of the relay equipment is obtained;
s2: the first ultrasonic module interacts with the relay equipment through ultrasonic signals to obtain the position information of each ultrasonic beacon in the first ultrasonic module;
wherein one ultrasound module comprises at least three ultrasound beacons;
wherein the relative position of each ultrasound beacon in one ultrasound module is known;
s3: the first ultrasonic module in step S2 interacts with the smart device through the ultrasonic signal to obtain the location information of the smart device.
6. The method for indoor precise positioning based on ultrasonic beacons according to claim 5, wherein the intelligent device in step S3 interacts with the second ultrasonic module to obtain the position information of each ultrasonic beacon in the second ultrasonic module, the second ultrasonic module interacts with another intelligent device to obtain the position information of another intelligent device, the another intelligent device interacts with the third ultrasonic module to obtain the position information of each ultrasonic beacon in the third ultrasonic module, and the position information of any intelligent device in the coverage area of the ultrasonic module is sequentially transmitted.
7. The ultrasonic beacon-based indoor precise positioning method according to claim 5, wherein the position information includes longitude and latitude.
8. The method for indoor precise positioning based on ultrasonic beacon as claimed in claim 6, wherein the interaction method of the relay device and the first ultrasonic module comprises the following steps:
the ultrasonic beacon of the first ultrasonic module sends out an ultrasonic signal;
after the relay equipment listens to a direct ultrasonic signal sent by an ultrasonic beacon, calculating a relative distance;
an origin (0,0,0) is taken on the first ultrasonic module, and the coordinate of the ultrasonic beacon is (x) according to the known position relation of the ultrasonic beacon1，y1，z1)、(x2，y2，z2)、(x3，y3，z3)……(xn，yn，zn) When the relative distance and the ultrasonic beacon coordinate are known, the coordinate (x) of the relay equipment can be obtained through the positioning function0，y0，z0)；
And the relay equipment receives the position coordinates (x, y, z) of the navigation system, and can calculate the position coordinates (x-x) of the origin in the coordinate system of the navigation system0，y-y0，z-z0)；
Further, the position coordinate (x) of the ultrasonic beacon in the ultrasonic module in the navigation system is obtained according to the known position relation of the ultrasonic beacon1′，y1′，z1′)、(x2′，y2′，z2′)、(x3′，y3′，z3′)……(xn′，yn′，zn′)。
9. The ultrasonic beacon-based indoor precise positioning method according to claim 5, wherein the number of ultrasonic beacons in one ultrasonic module is 4.
10. The ultrasonic beacon-based indoor precise positioning method according to claim 5, wherein the ultrasonic module communicates information with the relay device/smart device through Bluetooth communication.
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| WO2024082450A1 (en) * | 2022-10-21 | 2024-04-25 | 苏州触达信息技术有限公司 | Ultrasonic loss-prevention tracker and system |
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