CN113267193B - Indoor accurate networking determination method based on ultrasonic beacon - Google Patents
Indoor accurate networking determination method based on ultrasonic beacon Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000002604 ultrasonography Methods 0.000 claims abstract description 15
- 230000003993 interaction Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001413 cellular effect Effects 0.000 description 2
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Classifications
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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 networking method based on an ultrasonic beacon, which comprises the following steps of S1: after receiving the signal of the navigation system, the relay equipment positioned outdoors obtains the 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, an ultrasonic module comprises at least three ultrasonic beacons; wherein the relative position of each ultrasound beacon in one ultrasound module is known; s3: and step S2, the first ultrasonic module interacts with the intelligent equipment through ultrasonic signals to obtain the position information of the intelligent equipment. The invention can realize accurate positioning at a place without satellite signals or satellite signal differences, and can seamlessly connect the navigation system and the ultrasonic positioning function according to application scenes 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 networking method based on an ultrasonic beacon, and belongs to the technical field of ultrasonic positioning.
Background
The global positioning system (Global Positioning System, GPS) is a high-precision radio navigation positioning system based on satellites that can provide accurate geographic location, movement speed and time information anywhere in the world and near earth space. In fact, in existing navigation systems, not only GPS is applied, but also Beidou satellite positioning systems, and even wireless networks.
In the "all-terrain canyon" of users in the all-terrain area, because GPS hardware initialization time is long and GPS satellite signal penetration is weak, even under outdoor environment, the GPS satellite signal penetration is still easy to be blocked by objects such as buildings, trees and the like, and the positioning accuracy is reduced, 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 a certain limitation, 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 still cannot be received indoors, so that accurate indoor positioning cannot be achieved.
At present, ultrasonic sound waves are transmitted and received between a plurality of ultrasonic beacons and mobile equipment, and accurate sensing of the position of the mobile equipment is realized by utilizing a time of arrival positioning method (TOA) or a time difference of arrival positioning method (TDOA), but the position of the mobile equipment sensed by the ultrasonic beacons is a positioning coordinate established relative to the position of the ultrasonic beacons, so that the application scene is limited, the mobile equipment cannot be connected with a navigation system, and a user needs to switch according to the environment when using the mobile equipment.
Disclosure of Invention
The invention aims to provide an indoor accurate positioning networking method based on an ultrasonic beacon, which not only solves the problem of poor indoor positioning effect of a satellite-based positioning system in the prior art, but also solves 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 above purpose, the invention adopts the following technical scheme:
an indoor accurate networking method based on ultrasonic beacons comprises the following steps:
s1: after receiving a signal of a navigation system, using a relay device to obtain self-position information;
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, an ultrasonic module comprises at least three ultrasonic beacons;
Wherein the relative position of each ultrasound beacon in one ultrasound module is known;
S3: the first ultrasonic module in the step S2 interacts with the intelligent equipment through ultrasonic signals to obtain the position information of the intelligent equipment;
S4: the intelligent device in the step S3 interacts with a 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 the other intelligent device, the other intelligent device interacts with a 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 obtained by sequentially transmitting the position information;
the interaction method of the relay equipment and the first ultrasonic module comprises the following steps:
The interaction method of the relay device and the first ultrasonic module comprises the following steps:
An ultrasonic beacon of the first ultrasonic module sends out an ultrasonic signal;
after the relay equipment listens to the direct ultrasonic signal sent by the ultrasonic beacon, calculating the relative distance;
An origin (0, 0) is obtained on the first ultrasonic module, and according to the position relation of the known ultrasonic beacons, the coordinates (x 0,y0,z0) of the relay equipment can be obtained through a positioning function when the coordinates of the ultrasonic beacons are (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)……(xn,yn,zn), in the known relative distance and the coordinates of the ultrasonic beacons;
The position coordinate of the origin in the navigation system coordinate system can be calculated as (x-x 0,y-y0,z-z0) after the relay equipment receives the navigation system coordinate as (x, y, z);
Further, the position coordinates of the ultrasonic beacon in the ultrasonic module in the navigation system are obtained again according to the known position relation of the ultrasonic beacon (x1′,y1′,z1′)、(x2′,y2′,z2′)、(x3′,y3′,z3′)……(xn′,yn′,zn′).
1. In the above scheme, the location information includes longitude and latitude.
2. In the above scheme, the number of the ultrasonic beacons in one ultrasonic module is 4.
3. In the scheme, the ultrasonic module transmits information with the relay equipment/intelligent equipment through Bluetooth communication.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. According to the indoor accurate positioning networking method based on the ultrasonic beacon, the position information from the navigation system is received through the relay equipment located outdoors, so that the position information based on satellite coordinates is obtained, interaction between the relay equipment and the similar ultrasonic module is utilized, the position information of the ultrasonic beacon in the navigation system in the ultrasonic module is calculated reversely, and further after the ultrasonic module is interacted with the intelligent equipment, the position information of the intelligent equipment in the navigation system is calculated, so that accurate positioning can be realized at a place without satellite signals or satellite signal differences, and the navigation system and the ultrasonic positioning function can be connected seamlessly according to an application scene based on the same coordinate system, so that the practicability of ultrasonic positioning is higher.
2. According to the indoor accurate determination networking method based on the ultrasonic beacon, the position information of the relay device is obtained through interaction of the relay device and the navigation system, the position information of the first ultrasonic module is calculated through interaction of the relay device and the first ultrasonic module, the first ultrasonic module interacts with the first intelligent device again, jie Suanchu the position information of the first intelligent device can interact with other ultrasonic modules again, the position information of other ultrasonic modules is calculated, the position information of other intelligent devices is solved again through the position information of other ultrasonic modules, and the position information is sequentially transmitted to form the ultrasonic positioning networking, so that a user in the networking coverage area can conveniently use a positioning function, and the position of the ultrasonic beacon does not need to be measured before installation, so that time and labor are saved.
3. The indoor accurate determination networking method based on the ultrasonic beacon receives the position information of the navigation system by selecting one outdoor relay device, wherein the relay device can be a customized satellite signal receiving device or any intelligent device which is handheld by a user outdoors, skillfully utilizes a smart mobile phone which is visible everywhere, does not need to be additionally provided with any hardware, and greatly facilitates the erection and use of positioning networking.
4. According to the indoor accurate determination networking method based on the ultrasonic beacon, through one-time positioning of the relay equipment and matching with transmission of the ultrasonic positioning networking, recording of the position of the ultrasonic module can be completed, and when the ultrasonic module is used next time, positioning transmission can be directly realized by the ultrasonic module used last time without the help of the relay equipment again.
5. According to the indoor accurate positioning networking system and method based on the ultrasonic beacon, information interaction is completed through low-frequency Bluetooth communication, so that interaction objects and corresponding information are verified before ultrasonic interaction, and energy consumption is reduced.
Drawings
FIG. 1 is a schematic diagram of the operation of the indoor accurate networking method based on ultrasonic beacons of the present invention.
Reference numerals illustrate: 1. a navigation system; 2. a relay device; 3. an ultrasonic module; 31. an ultrasound beacon; 4. an intelligent device.
Detailed Description
Example 1: an indoor accurate networking method based on ultrasonic beacons, referring to fig. 1, comprises the following steps:
the navigation system 1 is a comprehensive application system of a GPS, a Beidou satellite positioning system and a wireless network, and is mainly used for outdoor positioning, and a coordinate system is a coordinate system established based on longitude and latitude of the earth.
A relay device 2 located outdoors, wherein the relay device 2 is a custom-made instrument, and is provided with a satellite signal receiving unit and an ultrasonic transceiver unit, which are connected with the navigation system 1 and used for acquiring and storing the self-position information; the relay device 2 located outdoors is selected to ensure stable connection with the navigation system 1 and accurate position information, and secondly, the relay device 2 located at a window or a doorway or other positions can be selected as long as stable and accurate positioning information can be received.
The ultrasonic module 3 is in ultrasonic connection with the relay device 2, where the ultrasonic module 3 may have only a speaker unit to emit ultrasonic sound waves, may have only a microphone unit to listen to ultrasonic sound waves, and may also have both the speaker unit and the microphone unit, so that its own position information is obtained through interaction with the relay device 2, and the ultrasonic module 3 has 3 ultrasonic beacons 31.
The smart device 4, here, the smart device 4 is a mobile smart terminal, and has a speaker unit and a microphone unit, which are carried by a user or a device to be positioned, and are ultrasonically connected to the ultrasonic module 3, and the position information within the coverage area of the ultrasonic module 3 is obtained by resolving.
Example 2: referring to fig. 1, an indoor accurate determination networking method based on an ultrasonic beacon 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 composed of a GPS, a Beidou satellite positioning system and a wireless network, the coordinate system is formed based on longitude and latitude of the earth, the relay device 2 is a smart phone, a user holds the smart phone outdoors (or indoor positions with satellite signals) passing through the coverage area of the ultrasonic module 3, and the positioning function of the mobile phone is used for receiving and transmitting positioning signals of the navigation system 1 to obtain position information of the mobile phone at the moment, wherein the position information comprises longitude and latitude, and if special conditions require, the height information can be obtained.
Here, the ultrasonic module 3 includes 4 ultrasonic beacons 31 that are topological structure and arrange, and ultrasonic beacon 31 can send ultrasonic sound wave signal respectively under the control module effect of ultrasonic module 3, and ultrasonic sound wave signal sends to well equipment 2 or intelligent device 4 respectively according to the demand, and here, intelligent device 4 is the smart mobile phone too, and it is in the not good position of satellite signal.
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 to jointly cover the whole indoor space, so that the positioning information is sequentially transmitted by matching with the indoor mobile phones to form a positioning networking system
In addition, a bluetooth communication module is configured in the ultrasonic module 3 or the ultrasonic beacon 31, and the mobile phone is provided with the bluetooth communication module, and the low-frequency bluetooth communication is utilized to search the paired ultrasonic module and the mobile phone and transmit information, so that the information carried by the ultrasonic sound wave signal as a carrier wave is reduced, and the power consumption is reduced, and the energy is saved.
Example 3: an indoor accurate networking method based on ultrasonic beacons comprises the following steps:
s1: selecting an outdoor smart phone as a relay device, opening a mobile phone positioning function, receiving a positioning signal from a navigation system, and obtaining 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, so that the relay equipment can conveniently and rapidly obtain high-precision position information.
S2: a plurality of ultrasonic modules are arranged in a room with poor satellite signals, each ultrasonic module is arranged according to the optimal coverage range of the ultrasonic module, the ultrasonic coverage range of any ultrasonic module positioned at the door/window position comprises a smart phone serving as a relay device, and after the smart phone serving as the relay device obtains the position information of the smart phone, the Bluetooth function is opened to be connected with a Bluetooth communication module in the ultrasonic module in a pairing manner;
After connection confirmation, the first ultrasonic module sends out an ultrasonic sound wave signal through the configured ultrasonic beacon, after a microphone of the smart phone serving as the relay device listens to the direct ultrasonic sound wave signal, the relative distance between the ultrasonic beacon and the smart phone can be calculated according to the flight time to be R 1、R2、R3……Rn, wherein R=t is c, where 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 in a topological structure on the ultrasonic module, a point which is positioned on the same plane as the ultrasonic beacon is taken as an origin (0, 0) on the ultrasonic module to establish a coordinate system, according to the known position arrangement relation of the ultrasonic beacons, the position of the ultrasonic beacon in the coordinate system is x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)……(xn,yn,zn),, which is the known relative distance and the coordinates of the ultrasonic beacon, and then the position of the smart phone serving as a relay device in the coordinate system is (x 0,y0,z0) through a TOA positioning function algorithm;
Meanwhile, the position of the smart phone serving as the relay device in the coordinate system of the navigation system is known as (x, y, z) through the navigation system, and the position coordinate of the origin in the coordinate system of the navigation system can be calculated as (x-x 0,y-y0,z-z0);
in this way, the position of the ultrasound beacon in the navigation system is once again calculated from the relative positional relationship known to the ultrasound beacon (x1′,y1′,z1′)、(x2′,y2′,z2′)、(x3′,y3′,z3′)……(xn′,yn′,zn′).
Wherein one ultrasound module comprises at least three ultrasound beacons, and n is here 4 in order to increase positioning accuracy.
S3: the intelligent device is an intelligent mobile phone, bluetooth of the intelligent mobile phone is opened, pairing confirmation is completed with the first ultrasonic module, a plurality of ultrasonic beacons of the first ultrasonic module transmit ultrasonic sound wave signals, the ultrasonic sound wave signals are heard by the intelligent mobile phone serving as the intelligent device, and after the position coordinates of the first ultrasonic module are known, the position coordinates of the intelligent mobile phone serving as the intelligent device are obtained by utilizing a TOA (time of arrival positioning algorithm).
S4: the smart phone is paired with a second ultrasonic module nearby the first ultrasonic module through Bluetooth, and the position coordinates of the second ultrasonic module are obtained through 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 through an ultrasonic positioning algorithm.
S6: and (4) 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 intelligent device may be outside the coverage area of the networking system formed by the ultrasonic module and then transferred to another indoor area.
Here, x in the step corresponds to longitude, y corresponds to latitude, and z corresponds to altitude.
Example 4: an indoor accurate networking method based on ultrasonic beacons includes all steps of embodiment 3, wherein a time difference of arrival (TODA) algorithm is employed by a positioning algorithm when the time of a relay device, a smart device and an ultrasonic module are not synchronized.
By adopting the scheme, the position information from the navigation system is received through the relay equipment positioned outdoors, so that the position information based on satellite coordinates is obtained, the interaction between the relay equipment and the similar ultrasonic module is utilized, the position information of the ultrasonic beacon in the navigation system in the ultrasonic module is reversely calculated, and further, after the ultrasonic module is interacted with the intelligent equipment, the position information of the intelligent equipment in the navigation system is calculated, so that accurate positioning can be realized at a place without satellite signals or poor satellite signals, the navigation system and ultrasonic positioning can be seamlessly connected according to an application scene, and the practicability of ultrasonic positioning is higher based on the same coordinate system.
In addition, the position information of the relay device is obtained through the interaction of the relay device and the navigation system, the position information of the first ultrasonic module is calculated through the interaction of the relay device and the first ultrasonic module, the first ultrasonic module interacts with the first intelligent device again, jie Suanchu the position information of the first intelligent device is calculated through the interaction of the first intelligent device and other ultrasonic modules, the position information of other ultrasonic modules is calculated through the position information of other ultrasonic modules, the position information of other intelligent devices is solved, and the position information is sequentially transmitted to form an ultrasonic positioning network, so that the user in the networking coverage area can conveniently use the positioning function, the position of an ultrasonic beacon is not required to be calculated 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 an intelligent device which is held by a user outdoors, the use is convenient, and any hardware is not required to be additionally arranged.
In addition, through the once positioning of the relay equipment, the record of the ultrasonic module position can be completed by matching with the transmission of the ultrasonic positioning network, and the positioning transmission can be directly realized by the ultrasonic module used last time when the ultrasonic module is used next time without the relay equipment.
In addition, the information interaction is completed through low-frequency Bluetooth communication, so that the interaction object and corresponding information are verified before ultrasonic interaction, and the energy consumption is reduced.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (4)
1. An indoor accurate networking method based on ultrasonic beacons is characterized by comprising the following steps:
s1: after receiving a signal of a navigation system, using a relay device to obtain self-position information;
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, an ultrasonic module comprises at least three ultrasonic beacons;
Wherein the relative position of each ultrasound beacon in one ultrasound module is known;
S3: the first ultrasonic module in the step S2 interacts with the intelligent equipment through ultrasonic signals to obtain the position information of the intelligent equipment;
S4: the intelligent device in the step S3 interacts with a 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 the other intelligent device, the other intelligent device interacts with a 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 obtained by sequentially transmitting the position information;
The interaction method of the relay device and the first ultrasonic module comprises the following steps:
An ultrasonic beacon of the first ultrasonic module sends out an ultrasonic signal;
after the relay equipment listens to the direct ultrasonic signal sent by the ultrasonic beacon, calculating the relative distance;
An origin (0, 0) is obtained on the first ultrasonic module, and according to the known position relation of the ultrasonic beacons, coordinates (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3) … … (xn, yn, zn) of the ultrasonic beacons can be obtained, and when the relative distance and the coordinates of the ultrasonic beacons are known, coordinates (x 0, y0, z 0) of the relay device can be obtained through a positioning function;
The position coordinates of the origin in the navigation system coordinate system can be calculated as (x-x 0, y-y0, z-z 0) after the relay equipment receives the navigation system position coordinates as (x, y, z);
Further, the position coordinates (x 1', y1', z1 '), (x 2', y2', z 2'), (x 3', y3', z3 ') … … (xn', yn ', zn') of the ultrasonic beacon in the ultrasonic module in the navigation system are obtained again according to the known position relationship of the ultrasonic beacon.
2. The ultrasound beacon based indoor fine positioning networking method of claim 1, wherein the location information comprises longitude and latitude.
3. The ultrasound beacon based indoor fine-tuning bit networking method of claim 1, wherein the number of ultrasound beacons in one of the ultrasound modules is 4.
4. The method for indoor precise networking based on ultrasonic beacons of claim 1, wherein the ultrasonic module communicates information with the relay device/intelligent device via bluetooth communication.
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| WO2021235621A1 (en) * | 2020-05-20 | 2021-11-25 | 주식회사 지오플랜 | Indoor positioning system and method using gps location information mapping |
| CN111818459A (en) * | 2020-06-04 | 2020-10-23 | 湘潭大学 | Indoor absolute position determination method |
| CN111818637A (en) * | 2020-06-04 | 2020-10-23 | 湘潭大学 | Indoor and outdoor seamless positioning and stable transition positioning method |
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