CN113543057A - Beacon, receiving equipment, indoor positioning method and system based on beacon - Google Patents

Beacon, receiving equipment, indoor positioning method and system based on beacon Download PDF

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Publication number
CN113543057A
CN113543057A CN202110769521.3A CN202110769521A CN113543057A CN 113543057 A CN113543057 A CN 113543057A CN 202110769521 A CN202110769521 A CN 202110769521A CN 113543057 A CN113543057 A CN 113543057A
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China
Prior art keywords
beacon
signal
directional antennas
receiving device
time
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CN202110769521.3A
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Chinese (zh)
Inventor
顾伟
张宝阳
张林嘉
磨善鹏
王鹏
彭艳芳
刘会春
曾亚飞
任志勇
王广
彭艺祥
杨佳嘉
黄巍
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Guizhou Zhenhua Communication Equipment Co ltd
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Guizhou Zhenhua Communication Equipment Co ltd
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Priority to CN202110769521.3A priority Critical patent/CN113543057A/en
Publication of CN113543057A publication Critical patent/CN113543057A/en
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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
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/50—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being pulse modulated and the time difference of their arrival being measured
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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

Abstract

The embodiment of the application provides a beacon, a receiving device, a beacon-based indoor positioning method and a system, wherein the method comprises the following steps: the method comprises the steps that a receiving device receives radiation signal attribute information sent by a plurality of directional antennas on a beacon respectively, wherein the radiation signal attribute information comprises a beacon address, a signal serial number, signal field intensity or a time signal; determining the direction and the distance of the receiving equipment relative to the beacon according to the attribute information of the plurality of the radiation signals; and positioning the receiving device according to the direction and the distance of the receiving device relative to the beacon. The method and the device can realize that the positioned equipment is accurately positioned indoors by only adopting one beacon.

Description

Beacon, receiving equipment, indoor positioning method and system based on beacon
Technical Field
Embodiments of the present application relate to the field of communications technologies, and in particular, to a beacon, a receiving device, and a beacon-based indoor positioning method and system.
Background
Common positioning technologies include a positioning technology based on a base station device, a positioning technology based on a beacon device, and a bluetooth 5.1 technology based on signal arrival angle positioning. When positioning the indoor equipment: the positioning technology based on the base station equipment needs to deploy more than three base stations in the indoor space, so that the construction cost and the engineering quantity are higher; based on the positioning technology of the beacon class, the positioned equipment can only judge the approximate distance from the beacon according to the field intensity of the received beacon signal, and can not judge the direction; the Bluetooth 5.1 technology based on signal arrival angle positioning, deploying Bluetooth 5.1 gateway equipment in an indoor space requires power supply and communication network support, resulting in higher manufacturing cost and engineering quantity.
Disclosure of Invention
The embodiment of the application provides a beacon, a receiving device, and a beacon-based indoor positioning method and system, which can realize accurate positioning of a positioned device indoors through a single beacon.
In a first aspect of the present application, there is provided a beacon-based indoor positioning method, comprising:
the method comprises the steps that a receiving device receives radiation signal attribute information sent by a plurality of directional antennas on a beacon respectively, wherein the radiation signal attribute information comprises a beacon address, a signal serial number, signal field intensity or a time signal;
determining the direction and the distance of the receiving equipment relative to the beacon according to the attribute information of the plurality of the radiation signals;
and positioning the receiving device according to the direction and the distance of the receiving device relative to the beacon.
In one possible implementation manner, the determining, according to the plurality of pieces of radiated signal attribute information, the direction and the distance in which the receiving device is located relative to the beacon includes:
determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated according to the time signals respectively corresponding to the plurality of directional antennas;
and determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated according to the time information respectively corresponding to the plurality of directional antennas.
In a possible implementation manner, the obtaining attribute information of the radiation signal respectively sent by a plurality of directional antennas on a beacon received by the receiving device includes:
the method comprises the steps of obtaining signal field intensity or time signals of radiation signals respectively sent by a plurality of directional antennas on a beacon and received by receiving equipment, calculating the flight time of the signals according to the time signals, and removing the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time.
In a second aspect of the present application, there is provided a reception apparatus comprising:
the receiving module is used for enabling the receiving equipment to receive radiation signal attribute information sent by a plurality of directional antennas on a beacon respectively, wherein the radiation signal attribute information comprises a beacon address, a signal serial number, signal field intensity or a time signal;
the determining module is used for determining the direction and the distance of the receiving equipment relative to the beacon according to the attribute information of the plurality of radiation signals;
and the positioning module is used for positioning the receiving equipment according to the direction and the distance of the receiving equipment relative to the beacon.
In one possible implementation, the determining module includes:
the first determining unit is used for determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated by the time signals respectively corresponding to the plurality of directional antennas;
and the second determining unit is used for determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated by the time information respectively corresponding to the plurality of directional antennas.
In a possible implementation manner, the receiving module is specifically configured to:
and enabling the receiving equipment to receive the signal field intensity or time signals of the radiation signals respectively sent by the plurality of directional antennas on the beacon, calculating the flight time of the signals according to the time signals, and removing the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time.
In a third aspect of the present application, there is provided a receiving device comprising a memory having stored thereon a computer program and a processor implementing the above method when executing the program.
In a fourth aspect of the present application, there is provided a beacon comprising a beacon body having a plurality of directional antennas pointing in a predetermined direction.
In a fifth aspect of the present application, there is provided a beacon-based indoor positioning system comprising: the receiving device described above and the beacon described above.
In the beacon, the receiving device, and the indoor positioning method and system based on the beacon provided in the embodiment of the application, first, the receiving device receives the attribute information of the radiation signals respectively sent by the multiple directional antennas on the beacon, then, the direction and the distance of the receiving device relative to the beacon are determined according to the signal field strength or the time signal in the attribute information of the multiple radiation signals, and finally, the receiving device is positioned according to the direction and the distance of the receiving device relative to the beacon, so that the accurate positioning of the positioned device can be realized by only adopting one beacon indoors.
It should be understood that what is described in this summary section is not intended to limit key or critical features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present application will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present application will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings.
Fig. 1 illustrates a schematic structural diagram of an exemplary beacon provided by an embodiment of the present application.
Fig. 2 shows a schematic distribution diagram of half-wave harmonic oscillators in the length direction of the reflecting plate according to the embodiment of the present application.
Fig. 3 is a schematic diagram illustrating a radiation area of a radiation signal of a directional antenna provided by an embodiment of the present application in a length direction of a reflector.
Fig. 4 shows a distribution diagram of half-wave resonators in the width direction of the reflection plate according to an embodiment of the present application.
Fig. 5 is a schematic diagram illustrating a radiation area of a radiation signal of a directional antenna provided by an embodiment of the present application in a width direction of a reflector.
Fig. 6 shows a flowchart of a beacon-based indoor positioning method provided by an embodiment of the present application.
Fig. 7 is a schematic diagram illustrating a radiation area of a positioning antenna radiation signal on a beacon according to an embodiment of the present application.
Fig. 8 is a schematic diagram illustrating positioning of a receiving device by a beacon indoors according to an embodiment of the present application.
Fig. 9 shows a block diagram of a receiving device according to an embodiment of the present application.
Fig. 10 shows a schematic structural diagram of another receiving apparatus provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Indoor positioning is classified into three types, namely signal field intensity, signal arrival angle and signal flight time according to the attributes of the used electromagnetic wave signals. The positioning mode by signal field intensity mainly comprises technologies of RFID, Wi-Fi, ZigBee, Bluetooth and the like, the positioning mode by signal arrival angle mainly comprises Bluetooth 5.1 and UWB technologies, and the positioning mode by signal flight time mainly comprises UWB technologies. The method can be divided into two modes of base station positioning and beacon positioning according to different positioning reference selections, the base station positioning based technology mainly comprises the technologies of RFID, Wi-Fi, ZigBee, UWB and the like, and the beacon positioning based technology mainly comprises the technologies of Bluetooth 4.0 and the like.
For example, in a UWB technology, in an indoor space scene with a complex or small structure, due to shielding and reflection of walls and the like on wireless transmission of electromagnetic wave signals, if precise positioning in small indoor spaces (such as offices, home rooms, and cabins in ships) is to be realized, more than three base stations need to be deployed in each small indoor space, which results in high construction cost and engineering quantity, and is difficult to be widely applied.
The positioning technology based on the beacon class, such as Bluetooth 4.0, only one beacon needs to be deployed in each small indoor space, the beacon is powered by a battery, the deployment is convenient, and the Bluetooth beacon is widely applied to indoor positioning scenes of business supermarkets, hospitals and the like at present. However, beacon positioning has a major drawback that accurate positioning in a small indoor space is difficult to achieve only based on a single beacon, currently, an onboard omnidirectional antenna is mostly adopted for beacons, wireless signals are covered in a space in a form similar to a 'donut' or an 'apple', and a positioning device can only judge an approximate distance from the beacon according to the field intensity of the received beacon signals, but cannot judge the direction.
The Bluetooth 5.1 technology based on signal arrival angle positioning can realize meter-level positioning accuracy by only deploying one Bluetooth 5.1 gateway device in each small indoor space, and the positioning accuracy is greatly improved compared with Bluetooth 4.0, but the Bluetooth 5.1 gateway device deployed in each small indoor space needs power supply and communication network support, so that the manufacturing cost and the engineering quantity are higher, and the technology is not as convenient as the Bluetooth 4.0 technology which only deploys a beacon powered by a battery.
In order to solve the above technical problem, an embodiment of the present application provides an indoor positioning method based on a beacon. Before introducing the method, it is first necessary to receive the beacon referred to in the embodiments of the present application.
In an embodiment of the present application, a beacon includes a beacon body having a plurality of directional antennas pointing in a predetermined direction. Illustratively, the beacon body has a top surface and at least four side surfaces, and reflective plates are disposed on the top surface and the side surfaces, and two half-wave resonators are disposed on each reflective plate, so that each reflective plate and the two half-wave resonators disposed thereon can form one directional antenna. The radiation area of the radiation signal of the directional antenna on the beacon is described below in connection with this example.
Referring to fig. 1, a beacon 100 includes a beacon body having a top surface and four side surfaces on which reflection plates 101 are respectively provided, and two half-wave resonators 102 are provided on each reflection plate 101, so that each reflection plate 101 and the two half-wave resonators 102 provided thereon can form one directional antenna.
Referring to fig. 2 and 3, fig. 2 shows a schematic distribution diagram of the reflection plate 101 and the half-wave resonators 102 in the longitudinal direction L of the reflection plate 101, and fig. 3 shows a distribution diagram of the radiation area of the radiation signal in the longitudinal direction L of the reflection plate 101 of the directional antenna formed by one reflection plate 101 and two half-wave resonators 102.
Referring to fig. 4 and 5, fig. 4 shows a schematic distribution diagram of the reflection plate 101 and the half-wave resonators 102 in the width direction W of the reflection plate 101, and fig. 5 shows a distribution diagram of the radiation area of the radiation signal in the width direction W of the reflection plate 101 of the directional antenna formed by one reflection plate 101 and two half-wave resonators 102.
The beacon-based indoor positioning method provided by the embodiments of the present application will be described with reference to specific embodiments.
Fig. 6 shows a flowchart of a beacon-based indoor positioning method provided by an embodiment of the present application. In some embodiments, the method may be performed by a receiving device. Referring to fig. 6, the method includes the steps of:
step 601, the receiving device receives the attribute information of the radiation signal sent by each of the multiple directional antennas on the beacon.
In the embodiment of the present application, the radiated signal attribute information includes a beacon address, a signal serial number, a signal field strength, or a time signal. The signal field strength of the radiated signal can be measured directly by the receiving device. The beacon address is carried by the signal emitted by the beacon and can be obtained by the receiving device upon receipt of the signal. The signal sequence is carried by the signal emitted by the beacon. The time of flight of the radiation signal can be calculated by the receiving device from the time signal.
After the receiving device receives the signal field strengths or time signals of the radiation signals respectively sent by the plurality of directional antennas on the beacon, the receiving device can calculate the flight time of the signals according to the time signals. After obtaining the signal field strength or the flight time, the receiving device needs to screen out the signal field strength and the flight time of the received radiation signal. Specifically, the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time can be removed.
For example, referring to fig. 7 and 8, when the receiving device 6 is located in a radiation area of a radiation signal emitted by the directional antenna 1 in the figure, the receiving device 6 can directly receive the radiation signal emitted by the directional antenna 1, can also receive the radiation signal emitted by the directional antenna 1 and reflected by a wall surface, and can also receive a back-reflected signal of the radiation signal emitted by the directional antenna 1, because the power of the back-reflected signal is small, the back-reflected signal can be screened out by the signal field strength, and because the transmission path of the reflected signal is larger than that of the direct signal, the back-reflected signal can also be screened out by the signal field strength. It should be noted that the screening by the time of flight of the radiation signal is performed in the same manner as the screening by the signal field strength of the radiation signal, and the screening is performed by the size of the time of flight, which is not described herein again.
And step 602, determining the direction and the distance of the receiving device relative to the beacon according to the plurality of radiated signal attribute information.
In some embodiments, determining the direction and distance in which the receiving device is located relative to the beacon based on the plurality of radiated signal attribute information may include the steps of:
determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated by the time signals respectively corresponding to the plurality of directional antennas;
and determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated according to the time information respectively corresponding to the plurality of directional antennas.
Taking the beacon as an example, which has directional antennas pointing in four directions, the following steps can be implemented when determining the direction and distance of the receiving device relative to the beacon:
step 6021, determining three directional antennas closest to the receiving device according to the plurality of radiation signal attribute information.
In the embodiment of the present application, the directional antennas may be sorted according to the signal field strength of the radiation signal, or sorted according to the flight time of the radiation signal.
Illustratively, the directional antennas are sorted according to the signal field strength from large to small as shown in table 1:
TABLE 1
Sequence number of directional antenna Signal strength
1 D1
2 D2
3 D3
4 D4
Wherein D1, D2, D3 and D4 are signal field strengths, and D1 is more than D2 is more than D3 is more than D4.
Illustratively, the directional antennas are ordered by time of flight from small to large as shown in table 2:
TABLE 2
Figure BDA0003152312650000081
Figure BDA0003152312650000091
Wherein, T1, T2, T3 and T4 are flight times, and T4 is more than T3 is more than T2 is more than T1.
With continued reference to fig. 8, the three directional antennas closest to the receiving device may be determined according to the signal field strengths of the radiation signals, where the signal field strengths of the radiation signals received by the receiving device from the positioning antenna 1, the positioning antenna 2, the positioning antenna 3, and the positioning antenna 4 are D1, D2, D3, and D4, respectively, and since D1 > D2 > D3 > D4, the magnitude of the signal field strength is inversely proportional to the transmission distance of the signal, it may be known that the directional antenna 1, the directional antenna 2, and the directional antenna 3 are the three directional antennas closest to the receiving device.
With continued reference to fig. 8, the three directional antennas closest to the receiving device may be determined according to the flight times of the radiation signals, the signal field strengths of the radiation signals received by the receiving device from the positioning antenna 1, the positioning antenna 2, the positioning antenna 3 and the positioning antenna 4 are T1, T2, T3 and T4, respectively, and since T4 > T3 > T2 > T1, the magnitude of the flight times is proportional to the transmission distance of the signals, it may be known that the directional antenna 1, the directional antenna 2 and the directional antenna 3 are the three directional antennas closest to the receiving device.
Step 6022, determining the direction of the receiving device relative to the beacon and the distance of the receiving device relative to the three directional antennas respectively according to the radiation signal attribute information corresponding to the three directional antennas respectively.
When determining the direction of the receiving device relative to the beacon, first, determining the area of the receiving device relative to the beacon according to the signal field strengths respectively corresponding to the three directional antennas or the flight times respectively corresponding to the three directional antennas, wherein the area of the receiving device relative to the beacon comprises the total radiation area of radiation signals emitted by two adjacent directional antennas in the three directional antennas. Illustratively, when D1 > D2 > D3, it can be determined that the receiving apparatus 6 is located within the total radiation area of the directional antenna 1 and the directional antenna 2. Illustratively, when T3 > T2 > T1, it can also be determined that the receiving apparatus 6 is located within the total radiation area of the directional antenna 1 and the directional antenna 2.
Then, according to the magnitude of the difference value of the signal field strengths of the radiation signals sent by the two adjacent directional antennas or the difference value of the flight time and a preset judgment value, the direction of the receiving device relative to one directional antenna of the two adjacent directional antennas is determined as the direction of the receiving device relative to the beacon. Illustratively, when D2-D3 ≦ C2(C2 is a preset determination value), it can be determined that the receiving apparatus 6 is located in the right south of the directional antenna 1, and when D1-D2 ≦ C3(C3 is a preset determination value), it can be determined that the receiving apparatus is located in the 45 ° direction in the southwest of the directional antenna 1. It should be noted that different determination values may be set for different directions of the directional antenna, and a specific setting manner of the determination values belongs to the prior art, which is not described herein again. It should be noted that, the direction of the receiving device relative to the beacon is determined by the time of flight, and similar to the method by the signal field strength, only different determination values need to be set.
It should be noted that there may be many different ways when the receiving device respectively locates at the distances from the three directional antennas, and the following ways provided by the embodiments of the present application are only exemplary.
Determining the distances of the receiving device relative to the three directional antennas respectively according to the signal field strengths corresponding to the three directional antennas respectively can be calculated by adopting the following formula:
L＝92.4+20log10F+20log10D
R＝T1+A1-L-A2
wherein L is the spatial propagation loss of the signal, F is the communication frequency (GHz), D is the distance (Km) between the directional antenna and the receiving equipment, R is the signal field intensity received by the receiving equipment, and T is the signal field intensity received by the receiving equipment1For directional transmission of power, A1For directional antenna gain, A2Is the receiving device antenna gain.
Determining the distances of the receiving device with respect to the three directional antennas according to the flight times corresponding to the three directional antennas, respectively, may be calculated using the following equation:
D＝T2×V
where D is the distance between the directional antenna and the receiving device, T2V is the flight time of the radiation signal, and V is the electromagnetic wave space transmission speed.
Step 603, positioning the receiving device according to the direction and distance of the receiving device relative to the beacon.
In the embodiment of the present application, the description is continued by taking an example in which the beacon has directional antennas respectively pointing in four directions.
When the receiving device is located according to the distances of the receiving device relative to the three directional antennas, two reference points can be determined first, and when a first distance difference between the two reference points and the receiving device is known, the receiving device is necessarily located on an implementation hyperbolic curve which takes the two reference points as a focal point and the distances between the two focal points are constant as the first distance difference. When a second distance difference between two other reference points (one of which and one of the two reference points is the same) and the receiving device is known, the receiving device must be located on an implementation hyperbolic curve that takes the two reference points as focal points and the distance between the two focal points is constant as the second distance difference. The intersection of these two sets of hyperbolas is the location where the receiving device may appear.
The specific calculation method is as follows:
determining a likely location of the receiving device according to the following system of equations:
Figure BDA0003152312650000111
wherein L is1Distance L between the receiving device and the closest directional antenna among the three directional antennas2For the distance of the receiving device from one of the other two directional antennas, L3(x) distance between the receiving device and the other of the two other directional antennas0，y0) Is the location of the receiving device, (x)1，y1) (x) is the position of the receiving device and the directional antenna closest to the receiving device among the three directional antennas2，y2) For the position of the receiving device and one of the other two directional antennas, (x)3，y3) The position of the receiving device and the other of the two other directional antennas.
After determining the likely locations of the receiving devices, the receiving devices are positioned by determining the locations of the receiving devices in the likely locations of the receiving devices in conjunction with the directions in which the receiving devices are located relative to the beacons.
According to the embodiment of the application, the property information of the radiation signals respectively sent by the plurality of directional antennas on the beacon is received by the receiving equipment, the direction and the distance of the receiving equipment relative to the beacon are determined according to the signal field intensity or the time signal in the property information of the radiation signals, and the receiving equipment is positioned according to the direction and the distance of the receiving equipment relative to the beacon, so that the accurate positioning of the positioned equipment can be realized by only adopting one beacon indoors.
The application provides a receiving device. Fig. 9 shows a block diagram of a receiving device according to an embodiment of the present application. Referring to fig. 9, the receiving apparatus includes a receiving module 901, a determining module 902, and a positioning module 903.
A receiving module 901, configured to enable a receiving device to receive attribute information of radiation signals sent by multiple directional antennas on a beacon, where the attribute information of the radiation signals includes a beacon address, a signal serial number, a signal field strength, or a time signal.
A determining module 902, configured to determine, according to a plurality of the radiated signal attribute information, a direction and a distance in which the receiving device is located relative to the beacon.
A positioning module 903, configured to position the receiving device according to the direction and distance of the receiving device relative to the beacon.
In some embodiments, the determining module 902 comprises:
and the first determining unit is used for determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated by the time signals respectively corresponding to the plurality of directional antennas.
And the second determining unit is used for determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated by the time information respectively corresponding to the plurality of directional antennas.
In some embodiments, the receiving module 901 is specifically configured to: enabling the receiving equipment to receive the signal field intensity or time signals of the radiation signals respectively sent by the plurality of directional antennas on the beacon, calculating the flight time of the signals according to the time signals, and removing the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time
Another receiving device is provided. Fig. 10 shows a schematic structural diagram of another receiving apparatus provided in an embodiment of the present application.
As shown in fig. 10, the receiving apparatus 1000 shown in fig. 10 includes: a processor 1001 and a memory 1003. Where the processor 1001 is coupled to the memory 1003, such as via a bus 1002. Optionally, the receiving device 1000 may further comprise a transceiver 1004. It should be noted that the transceiver 1004 is not limited to one in practical application, and the structure of the receiving apparatus 1000 is not limited to the embodiment of the present application.
The Processor 1001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 1001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.
Bus 302 may include a path that transfers information between the above components. The bus 1002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.
The Memory 1003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 1003 is used for storing application program codes for executing the present application, and the processor 1001 controls the execution. The processor 1001 is configured to execute application program codes stored in the memory 1003 to implement the contents shown in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The receiving apparatus shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
In another aspect, the present application also provides a beacon-based indoor positioning system, which includes the above-mentioned beacon and receiving device.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments with a particular combination of the above-mentioned features, but also encompasses other embodiments with any combination of the above-mentioned features or their equivalents without departing from the spirit of the application. For example, the above features may be replaced with (but not limited to) features having similar functions as those described in this application.

Claims (9)

1. A beacon-based indoor positioning method, comprising:
the method comprises the steps that a receiving device receives radiation signal attribute information sent by a plurality of directional antennas on a beacon respectively, wherein the radiation signal attribute information comprises a beacon address, a signal serial number, signal field intensity or a time signal;
determining the direction and the distance of the receiving equipment relative to the beacon according to the attribute information of the plurality of the radiation signals;
and positioning the receiving device according to the direction and the distance of the receiving device relative to the beacon.
2. The method of claim 1, wherein determining the direction and distance of the receiving device relative to the beacon from the plurality of radiated signal attribute information comprises:
determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated according to the time signals respectively corresponding to the plurality of directional antennas;
and determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated according to the time information respectively corresponding to the plurality of directional antennas.
3. The method of claim 1, wherein the obtaining of the attribute information of the radiation signal respectively emitted by the plurality of directional antennas on the beacon received by the receiving device comprises:
the method comprises the steps of obtaining signal field intensity or time signals of radiation signals respectively sent by a plurality of directional antennas on a beacon and received by receiving equipment, calculating the flight time of the signals according to the time signals, and removing the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time.
4. A receiving device, comprising:
the receiving module is used for enabling the receiving equipment to receive radiation signal attribute information sent by a plurality of directional antennas on a beacon respectively, wherein the radiation signal attribute information comprises a beacon address, a signal serial number, signal field intensity or a time signal;
the determining module is used for determining the direction and the distance of the receiving equipment relative to the beacon according to the attribute information of the plurality of radiation signals;
and the positioning module is used for positioning the receiving equipment according to the direction and the distance of the receiving equipment relative to the beacon.
5. The receiving device of claim 4, wherein the determining module comprises:
the first determining unit is used for determining the distance of the receiving equipment relative to the beacon according to the signal field intensity respectively corresponding to the plurality of directional antennas or the flight time calculated by the time signals respectively corresponding to the plurality of directional antennas;
and the second determining unit is used for determining the direction of the receiving equipment relative to the beacon according to the signal field strengths respectively corresponding to the plurality of directional antennas or the flight time calculated by the time information respectively corresponding to the plurality of directional antennas.
6. The apparatus of claim 4, wherein the receiving module is specifically configured to:
and enabling the receiving equipment to receive the signal field intensity or time signals of the radiation signals respectively sent by the plurality of directional antennas on the beacon, calculating the flight time of the signals according to the time signals, and removing the signal field intensity smaller than the preset field intensity and the flight time larger than the preset time.
7. A receiving device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the program, implements the method according to any of claims 1 to 3.
8. A beacon comprising a beacon body having a plurality of directional antennas pointed in predetermined directions.
9. A beacon-based indoor positioning system, comprising:
the receiving device of claim 6 or 7;
a beacon as claimed in claim 8 or 9.
CN202110769521.3A 2021-07-07 2021-07-07 Beacon, receiving equipment, indoor positioning method and system based on beacon Pending CN113543057A (en)

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