CN113411885B - Positioning method and positioning server suitable for indoor complex environment - Google Patents
Positioning method and positioning server suitable for indoor complex environment Download PDFInfo
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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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- 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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Abstract
The invention discloses a positioning method and a positioning server suitable for indoor complex environment, wherein the positioning method comprises the steps of forming a positioning network by a plurality of positioning transmitting devices, acquiring a first position coordinate and an initial positioning transmitting device list by the positioning network, acquiring PDR information of a user by a positioning terminal to judge whether the user moves, if not, judging whether the user moves again, if so, acquiring a temporary transmitting device list by the positioning network, judging whether the temporary transmitting device list is different from the initial positioning transmitting device list, if not, judging whether the user moves again, if so, acquiring a second position coordinate by the positioning network, correcting the second position coordinate by the PDR information, and generating a third position coordinate. In the invention, the positioning is carried out through a positioning network consisting of a plurality of positioning transmitting devices, and the correction is carried out through a positioning terminal, so as to solve the problem that the indoor complex environment is difficult to position.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a positioning method and a positioning server suitable for indoor complex environment.
Background
With the development of satellite positioning and navigation technology, Location-Based-Service (LBS) is gradually entering into people's lives. Due to the popularization of intelligent terminal equipment and the rapid development of position service, people have higher and higher requirements on the accuracy and stability of positioning results. GPS is a global positioning and navigation system developed by the united states and is currently the most widely used and mature positioning system. However, the complexity of the indoor environment results in the signal being blocked, interfering so that the signal is often not acceptable to the user. Therefore, GPS cannot meet the need for indoor positioning.
With the continuous progress and development of society, a plurality of indoor buildings such as shopping malls, airports, amusement parks and the like appear in cities, the indoor environment is gradually complicated along with the large volume of the buildings, the events of visiting and getting lost of tourists are frequent, and particularly in emergency risk avoidance, the complicated indoor environment can seriously obstruct the evacuation work.
Disclosure of Invention
In order to overcome the defects of the prior art, an object of the present invention is to provide a positioning method suitable for indoor complex environments, which can solve the problem that the complex indoor environments cannot be effectively positioned.
The second objective of the present invention is to provide a positioning server suitable for indoor complex environment, which can solve the problem that the complex indoor environment cannot be effectively positioned.
In order to achieve one of the above purposes, the technical scheme adopted by the invention is as follows:
a positioning method suitable for indoor complex environment comprises the following steps:
s1: driving Bluetooth beacons deployed on facilities functioning as landmarks in a navigation area to interact to form a first positioning network;
s2: judging whether the threshold value of the transmitting power of the Bluetooth beacon at any position in the navigation area is lower than a preset value, if so, driving the AOA base stations adjacent to the position to interact to form a second positioning network, and if not, executing S3;
s3: the first location coordinates and the list of initial position transmitters are obtained through the first positioning network or the second positioning network.
S4: the PDR information of a user is obtained through a positioning terminal;
s5: judging whether the user moves, if not, executing S4, and if so, executing S6;
s6: acquiring a temporary positioning transmitting device list through a first positioning network or a second positioning network, judging whether the temporary positioning transmitting device list is different from the initial positioning transmitting device list or not, if not, executing S4, and if so, acquiring a second position coordinate through the first positioning network or the second positioning network, wherein the temporary positioning transmitting device list comprises the name and the position of the positioning transmitting device;
s7: and correcting the second position coordinate through the PDR information to generate a third position coordinate.
Preferably, the positioning transmitting device comprises a bluetooth beacon and an AOA base station.
Preferably, the step S6 specifically comprises the following steps:
s61: acquiring a temporary positioning transmitting device list through a positioning network;
s62: judging whether the temporary positioning transmitting device list is different from the initial positioning transmitting device list or not, if not, executing S4, and if so, executing S63;
s63: judging whether the positioning transmitting devices in the temporary transmitting device list are from the same type of positioning network, if so, executing S65, and if not, executing S64;
s64: and (3) carrying out interpolation processing on the first position coordinates:
the interpolation step is: deltaj=(jcur-jlast)/n;
The interpolation result is: j is a function ofi=jlast+deltaj*i;
Obtaining a coordinate sequence: loci=(xi,yi,zi);
Therein, deltajIs the interpolation step length; j is a function ofcurDimension of the current positioning coordinate; j is a function oflastThe dimension of the last positioning coordinate; n is the number of interpolation segments; j is a function ofiIs the interpolation result; i is the interpolated segment sequence number; lociIs a coordinate sequence; x is the number ofi,yiAnd ziEach represents a dimension on a coordinate;
s65: and acquiring the second position coordinates through a positioning network, wherein the temporary positioning transmitting device list comprises the names and the positions of the positioning transmitting devices.
Preferably, the positioning terminal comprises an acceleration sensor and an electronic compass.
Preferably, the PDR information includes a step number and a heading angle
Preferably, the step S4 is specifically implemented by the following steps:
the moving acceleration and the step number of the user are obtained through the acceleration sensor, and meanwhile the course of the user is obtained through the electronic compass.
In order to achieve the second purpose, the technical scheme adopted by the invention is as follows:
a positioning server suitable for indoor complex environments, comprising a storage and a processor;
a memory for storing program instructions;
and the processor is used for executing the program instructions to execute the positioning method suitable for the indoor complex environment.
Compared with the prior art, the invention has the beneficial effects that: the positioning transmitting devices are interacted to form a positioning network, so that a user is interacted with the positioning transmitting devices through the positioning network to obtain positioning, and in addition, along with the position change of the user, the positioning transmitting devices connected with the user through the positioning network also change along with the position change of the user, and the connectivity of an actual physical space is reflected through the change of the positioning transmitting devices, so that when the user is positioned, the change of the positioning transmitting devices is obtained, the second position coordinate is corrected by combining the connectivity of the actual physical space and PDR information of the user, the user can obtain accurate third positioning in a complex indoor environment, and the problem that the indoor complex environment is difficult to position is solved.
Drawings
Fig. 1 is a flowchart of a positioning method applicable to an indoor complex environment according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention will be further described with reference to the accompanying drawings and the detailed description below:
in the invention, the positioning terminal comprises a data processing terminal provided with an electronic compass, an acceleration sensor and the like, and the facilities playing the role of the landmark comprise doors, windows, corridors, stairs, elevators and other indoor facilities with the function of the landmark; the AOA base station refers to a signal transmitting base station which carries out positioning by using an Angle Of Arrival (Angle Of Arrival) positioning technology Of a Bluetooth 5.1 protocol; positioning transmitting devices include, but are not limited to, bluetooth beacons, AOA base stations, and routers. In the invention, a user is connected with a positioning server through a client to obtain the current positioning coordinate, namely, the AOA base station, the Bluetooth beacon, the data processing terminal provided with an electronic compass, an acceleration sensor and the like and the client are connected with the positioning server, and the client comprises but is not limited to portable communication equipment such as a mobile phone, a tablet personal computer and the like.
The first embodiment is as follows:
as shown in fig. 1: a positioning method suitable for indoor complex environment comprises the following steps:
forming a positioning network by a plurality of positioning transmitting devices, and acquiring a first position coordinate and an initial positioning transmitting device list by the positioning network, wherein the initial positioning transmitting device list comprises the names and the positions of the positioning transmitting devices;
specifically, through interacting with a plurality of positioning transmitting devices, the triangular positioning is realized through a plurality of positioning devices, and the positioning accuracy is improved. Preferably, the positioning transmitting device comprises a bluetooth beacon and an AOA base station. In this embodiment, obtaining the first location coordinates and the initial positioning transmitting device list is specifically realized by the following steps:
s1: driving Bluetooth beacons deployed on facilities functioning as landmarks in a navigation area to interact to form a first positioning network;
specifically, the bluetooth beacons are densely deployed on landmark facilities such as doors, windows, corridors, stairs, elevators and the like in a navigation area in combination with the layout of indoor facilities, each bluetooth beacon is communicated with the physical space of the bluetooth beacon, and the bluetooth beacons at adjacent positions interact with each other to form a first positioning network, so that a user can enter the navigation area and interact with the bluetooth beacons through the first positioning network, and the connectivity of an actual physical space is reflected through the interaction among the bluetooth beacons.
S2: judging whether the threshold value of the transmitting power of the Bluetooth beacon at any position in the navigation area is lower than a preset value, if so, driving the AOA base stations adjacent to the position to interact to form a second positioning network, and if not, executing S3;
specifically, based on the consideration of the construction cost, the construction cost is too high due to too many base stations, so that a bluetooth beacon is arranged on a landmark facility, an AOA base station is deployed in an area outside the coverage area of the bluetooth beacon or an area where the bluetooth signal is too weak, and a second positioning network is formed by the AOA base station, that is, a place where the first positioning network formed by the bluetooth beacon cannot cover is covered by the second positioning network formed by the AOA base station. In this embodiment, failure to receive a signal of a bluetooth beacon or a threshold of transmit power of a bluetooth beacon below-90 dBm is considered to be outside of the effective coverage area of the first positioning network
S3: the first location coordinates and the list of initial position transmitters are obtained through the first positioning network or the second positioning network.
Specifically, when a user opens a client in an area covered by a first positioning network or a second positioning network, the client establishes a connection with a positioning server, and a positioning service area interacts with a plurality of positioning transmitting devices (bluetooth beacons or AOA base stations) through the first positioning network or the second positioning network, so that triangulation (using 2 or more than 2 positioning transmitting devices to detect client positions at different positions, and then determining the position and distance of the client by using a trigonometric geometry principle) is performed through the plurality of positioning transmitting devices or a weighting result of positioning coordinates of the plurality of positioning transmitting devices, thereby obtaining a first position coordinate of the client (i.e., the user), and obtaining the name and position of the positioning transmitting device in the current positioning network, thereby forming an initial positioning transmitting device list.
S4: the PDR information of a user is obtained through a positioning terminal;
preferably, the positioning terminal comprises an acceleration sensor and an electronic compass. Further, the PDR information includes a step number and a heading angle; in this embodiment, the step S4 is specifically implemented by the following steps:
the step number of the user is obtained through the acceleration sensor, and meanwhile, the course angle of the user is obtained through the electronic compass.
S5: judging whether the user moves, if not, executing S4, and if so, executing S6;
specifically, whether the user moves (leaves the first position coordinate) is judged through the PDR information of the user, if not, the PDR information of the user is obtained again, and if yes, the position coordinate is obtained again.
S6: acquiring a temporary positioning transmitting device list through a positioning network, judging whether the temporary positioning transmitting device list is different from the initial positioning transmitting device list or not, if not, executing S4, and if so, acquiring a second position coordinate through the positioning network, wherein the temporary positioning transmitting device list comprises the name and the position of the positioning transmitting device;
specifically, each positioning transmitting device is connected with its adjacent positioning transmitting device in the interconnected physical space, so that when the position of the user changes, the corresponding positioning transmitting device list will also change along with the change; in this embodiment, the step S6 specifically includes the following steps:
s61: acquiring a temporary positioning transmitting device list through a positioning network;
specifically, after the user moves, the client interacts with the positioning network corresponding to the current location to obtain the name and the location of the positioning transmitting device in the positioning network corresponding to the current location, so as to form a temporary transmitting device list.
S62: judging whether the temporary positioning transmitting device list is different from the initial positioning transmitting device list or not, if not, executing S4, and if so, executing S63;
specifically, the temporary positioning transmitting device list is compared with the initial positioning transmitting device list, the change of the current physical space is further judged according to the difference between the temporary positioning transmitting device list and the initial positioning transmitting device list, and when the physical space changes, the positioning is carried out through the positioning network again.
S63: judging whether the positioning transmitting devices in the temporary transmitting device list are from the same type of positioning network, if so, executing S65, and if not, executing S64;
specifically, whether the positioning transmitting devices in the temporary transmitting device list are from the same type of positioning network is judged through the information on the temporary transmitting device list, and when the sources are the same, the user is considered to be always active in the coverage area of the first positioning network or the second positioning network, and when the sources are different, the user is considered to traverse between the coverage areas of the first and second positioning networks, because there is a certain difference between the positioning accuracy of the AOA base station and the positioning accuracy of the bluetooth beacon, when the user is at the edge (intersection) of the first positioning network and the second positioning network, there may be a conflict between the positioning coordinates provided by the AOA base station and the positioning coordinates of the bluetooth beacon, so that the coordinates seen by the user through the client may be moving around, so that the first position coordinate needs to be interpolated to obtain the accurate second position coordinate.
S64: and (3) carrying out interpolation processing on the first position coordinates:
the interpolation step is: deltaj=(jcur-jlast)/n;
The interpolation result is: j is a function ofi=jlast+deltaj*i;
Obtaining a coordinate sequence: loci=(xi,yi,zi);
Therein, deltajIs the interpolation step length; j is a function ofcurDimension of the current positioning coordinate; j is a function oflastThe dimension of the last positioning coordinate; n is the number of interpolation segments; j is a function ofiIs the interpolation result; i is the interpolated segment sequence number; lociIs a coordinate sequence; x is the number ofi,yiAnd ziEach representing a dimension in coordinates.
Specifically, when the user moves from the position a (within the coverage of the first positioning network or the second positioning network) to the position B (within the coverage of the first positioning network and the second positioning network), the positioning server sets the position a (the coordinate of the first position) as the starting point, i.e., jlast, whose coordinate is (x) and whose position is the position of the second positionlast,ylast,zlast) With the B position (second position coordinate) set as the end point, i.e., jcurThe coordinate is (x)cur,ycur,zcur) Dividing the path from A position to B position into n sections, each section having a length, i.e. a value step length of deltaj=(jcur-jlast) N, i.e. setting several variables between the starting point and the end point, and combining the vector operation, so that the coordinate corresponding to a certain section, i.e. the plug value result is ji=jlast+deltajI, where i is the sequence number of the segment interpolation, thereby obtaining jiThe corresponding coordinate sequence is: loci=(xi,yi,zi) And returning the result after the interpolation processing to the client of the user, so that the client displays the positioning result after the interpolation in a smooth mode, and the positioning experience of the user is improved.
In this embodiment, because there is a certain difference between the positioning accuracy of the AOA base station and the positioning accuracy of the bluetooth beacon, a certain deviation may occur in the positioning result between the two, at this time, the last positioning coordinate result is used as a starting point, the temporary positioning coordinate result is used as an end point, interpolation processing of the positioning result is performed, the processed result is returned to the user, the interpolated positioning result is displayed in a smooth manner, and the positioning experience of the user is improved.
S65: and acquiring the second position coordinates through a positioning network, wherein the temporary positioning transmitting device list comprises the names and the positions of the positioning transmitting devices.
Specifically, after the physical space is determined to be changed, the second position coordinate corresponding to the current position is obtained by positioning through the positioning network again.
S7: and correcting the second position coordinate through the PDR information to generate a third position coordinate.
Specifically, the filter corrects the second position coordinate in combination with the PDR information, and in this embodiment, the PDR calculation is performed on the step number and the heading angle of the user, so that the second position coordinate is corrected to obtain a third position coordinate, so that the navigation and positioning in the complex indoor environment are more accurate.
Example two
A positioning server suitable for indoor complex environments, comprising a storage and a processor;
a memory for storing program instructions;
and the processor is used for executing the program instructions to execute the positioning method suitable for the indoor complex environment according to the first embodiment.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (5)
1. A positioning method suitable for indoor complex environment is characterized by comprising the following steps:
s1: driving Bluetooth beacons deployed on facilities functioning as landmarks in a navigation area to interact to form a first positioning network;
s2: judging whether the threshold value of the transmitting power of the Bluetooth beacon at any position in the navigation area is lower than a preset value, if so, driving the AOA base stations adjacent to the position to interact to form a second positioning network, and executing S3, otherwise, executing S3;
s3: obtaining a first location coordinate and an initial positioning transmitting device list through a first positioning network or a second positioning network;
s4: the PDR information of a user is obtained through a positioning terminal;
s5: judging whether the user moves, if not, executing S4, and if so, executing S6;
s6: acquiring a temporary positioning transmitting device list through a first positioning network or a second positioning network, judging whether the temporary positioning transmitting device list is different from the initial positioning transmitting device list or not, if not, executing S4, if so, judging whether positioning transmitting devices in the temporary transmitting device list are all from one of the first positioning network and the second positioning network, if so, acquiring a second position coordinate through the positioning network, wherein the temporary positioning transmitting device list comprises the names and the positions of Bluetooth beacons and/or AOA base stations, and if not, performing interpolation processing on the first position coordinate:
the interpolation step is: deltaj=(jcur-jlast)/n；
The interpolation result is: j is a function ofi=jlast+deltaj*i；
Obtaining a coordinate sequence: loci=(xi,yi,zi) To obtain a second position coordinate;
therein, deltajIs the interpolation step length; j is a function ofcurDimension of the current positioning coordinate; j is a function oflastThe dimension of the last positioning coordinate; n is the number of interpolation segments; j is a function ofiIs the interpolation result; i is the interpolated segment sequence number; lociIs a coordinate sequence; x is the number ofi,yiAnd ziEach represents a dimension on a coordinate;
s7: and correcting the second position coordinate through the PDR information to generate a third position coordinate.
2. The method for positioning in indoor complex environment as claimed in claim 1, wherein said positioning terminal comprises an acceleration sensor and an electronic compass.
3. A positioning method suitable for use in an indoor complex environment according to claim 2, wherein: the PDR information includes a step number and a heading angle.
4. The positioning method applicable to the indoor complex environment according to claim 3, wherein the step S4 is specifically realized by the following steps:
the step number of the user is obtained through the acceleration sensor, and meanwhile, the course angle of the user is obtained through the electronic compass.
5. A positioning server suitable for indoor complex environment, characterized in that: comprises a storage and a processor;
a memory for storing program instructions;
a processor for executing the program instructions to perform the positioning method suitable for indoor complex environment according to any one of claims 1 to 4.
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