CN113556674B - Indoor positioning method and system based on Bluetooth communication and BLE chip - Google Patents

Indoor positioning method and system based on Bluetooth communication and BLE chip Download PDF

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Publication number
CN113556674B
CN113556674B CN202110800093.6A CN202110800093A CN113556674B CN 113556674 B CN113556674 B CN 113556674B CN 202110800093 A CN202110800093 A CN 202110800093A CN 113556674 B CN113556674 B CN 113556674B
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array
antenna
positioning
semicircular
antennas
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CN113556674A (en
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张虚谷
程文健
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Zhuhai Geehy Semiconductor Co Ltd
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Zhuhai Geehy Semiconductor Co Ltd
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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
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application provides an indoor positioning method, an indoor positioning system and a BLE chip based on Bluetooth communication, wherein the method comprises the steps of arranging and installing beacons and array antennas in a positioning area; establishing a fingerprint database according to the beacon, wherein the fingerprint database comprises association information of the signal fingerprint and the coordinate position; and determining the target position in the positioning area according to the beacon and/or the array antenna. In the embodiment of the application, the position fingerprint positioning and the multi-antenna positioning are combined, the multi-antenna positioning is preferentially adopted to determine the position of the target, and when the target is out of the coverage range of the multi-antenna positioning, the position fingerprint positioning is adopted to determine the position of the target. The influence of obstacles in a specific place on the positioning of the multiple antennas can be eliminated; the problem of poor fingerprint positioning effect of the area position with large environmental change is solved; and the size of the fingerprint database is reduced as much as possible under the condition of ensuring the positioning accuracy.

Description

Indoor positioning method and system based on Bluetooth communication and BLE chip
Technical Field
The application relates to the technical field of communication, in particular to an indoor positioning method and system based on Bluetooth communication and a BLE chip.
Background
The indoor positioning means that position positioning is realized in an indoor environment, and a set of indoor position positioning system is formed by mainly integrating various technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capture and the like, so that position monitoring of personnel, objects and the like in an indoor space is realized.
In the related art, common indoor positioning methods include position fingerprint positioning and multi-antenna positioning.
Wherein, the location fingerprint positioning comprises two stages: the first stage is a training/off-line stage, and the main work is to collect signal characteristic parameters of each reference point in a required positioning area, such as signal field intensity, multipath phase angle component power and the like, establish a corresponding relation between position information and the signal characteristic parameters and form a fingerprint database; the second stage is a positioning/on-line stage, which utilizes the receiver to measure the signal characteristic parameters of the received signals, and adopts a matching algorithm to determine which group of data in the fingerprint database the signal characteristic parameters of the received signals are matched with, thereby determining the position information of the receiver. However, the location fingerprint positioning is not suitable for an area where the environment changes too fast, and in addition, the accuracy of the location fingerprint positioning depends on the size of the database, and if the positioning accuracy is to be improved, a huge database needs to be established, and the database needs to be updated regularly or irregularly.
The multi-antenna positioning is consistent with the principle of the Bluetooth (BLE) angle of arrival (AOA)/angle of departure (AOD) positioning system, and the main differences are antenna models and data processing algorithms. There are three main forms of antenna models currently used for positioning: linear arrays, rectangular arrays, and circular arrays. Theoretically, the multi-antenna positioning can obtain higher positioning accuracy, but the multi-antenna positioning cannot solve the influence of obstacles in a positioning area on signals.
Disclosure of Invention
The application provides an indoor positioning method, system and BLE chip based on bluetooth communication to it is unsuitable for the region that environmental change is too fast and need establish huge database to do benefit to position fingerprint location among the solution prior art, and many antennas fix a position and can't solve the problem of the influence of the barrier in the region to the signal.
In a first aspect, an embodiment of the present application provides an indoor positioning method based on bluetooth communication, including:
arranging and installing beacons and array antennas in a positioning area;
establishing a fingerprint database according to the beacon, wherein the fingerprint database comprises association information of the signal fingerprint and the coordinate position;
and determining the target position in the positioning area according to the beacon and/or the array antenna.
Preferably, the establishing a fingerprint library according to the beacon includes:
and establishing a fingerprint library according to the beacon and the coverage area of the array antenna, wherein the fingerprint library precision in the coverage area of the array antenna is configured to be smaller than the fingerprint library precision outside the coverage area of the array antenna.
Preferably, the outside of the coverage area of the array antenna comprises a maximum coverage distance beyond the coverage area of the array antenna, and/or an area blocked by an obstacle.
Preferably, the determining a target position in the positioning area according to the beacon and/or the array antenna includes:
if the array antenna detects a target, determining the position of the target according to the positioning result of the array antenna;
and if the array antenna does not detect the target, determining the position of the target according to the positioning result of the beacon.
Preferably, the number of the array antennas is two or more, and if the array antennas detect a target, determining a target position according to a positioning result of the array antennas includes:
determining the area where the target is located according to the positioning result of the beacon;
and determining the position of the target according to the positioning result of the array antenna in the area where the target is located.
Preferably, the array antenna is a stereoscopic array antenna, and the stereoscopic array antenna comprises a first semicircular array and a second semicircular array;
the first semicircular array and the second semicircular array respectively comprise N antennas and M antennas, 1 antenna in the N antennas is located at the circle center position of the first semicircular array, N-1 antennas are located at the semicircular arc position of the first semicircular array, 1 antenna in the M antennas is located at the circle center position of the second semicircular array, M-1 antennas are located at the semicircular arc position of the second semicircular array, N is more than or equal to 3, and M is more than or equal to 3;
n antennas in the first semicircular array are located in a first plane, M antennas in the second semicircular array are located in a second plane, an included angle between the first plane and the second plane is delta, and the diameters of the first semicircular array and the second semicircular array are parallel to each other.
Preferably, the N-1 antennas are uniformly distributed at the semicircular arc positions of the first semicircular array; and/or the presence of a gas in the gas,
and the M-1 antennas are uniformly distributed at the semi-circular arc position of the second semi-circular array.
Preferably, the antenna at the center of the first semicircular array is a reference antenna of the first semicircular array; and/or the presence of a gas in the atmosphere,
and the antenna at the circle center position of the second semicircular array is a reference antenna of the second semicircular array.
Preferably, an included angle δ between the first plane and the second plane satisfies a condition: delta is more than 0 degree and less than 180 degrees.
In a second aspect, an embodiment of the present application provides an indoor positioning system based on bluetooth communication, including:
arranging beacons and array antennas installed in the positioning area;
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions which, when executed, cause the system to perform the method of any of the first aspects.
In a third aspect, an embodiment of the present application provides a BLE chip, including: an array antenna; a processor; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed, cause the system to perform the method of any of the first aspects.
In the embodiment of the application, the position fingerprint positioning and the multi-antenna positioning are combined, the multi-antenna positioning is preferentially adopted to determine the position of the target, and when the target is out of the coverage range of the multi-antenna positioning, the position fingerprint positioning is adopted to determine the position of the target. The influence of obstacles in a specific place on the positioning of the multiple antennas can be eliminated; the problem of poor fingerprint positioning effect of the area position with large environmental change is solved; and the size of the fingerprint database is reduced as much as possible under the condition of ensuring the positioning accuracy.
In addition, the three-dimensional array antenna provided by the embodiment of the application divides the circular array into two semicircular arrays in half, and performs signal positioning based on the two semicircular arrays, so that the stability and robustness of received data can be improved. In an application scenario that the number of antennas is small (for example, a chip only supports 4 antennas or 8 antennas), reliable data acquisition can be performed, and thus the positioning angle and accuracy are improved. The two semicircular arrays form a three-dimensional structure, so that the positioning accuracy of a target object in a specific range in a three-dimensional space can be improved, reliable data acquisition is carried out, and the positioning angle and the positioning accuracy are further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic view of a location fingerprint positioning scenario provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a circular array antenna in the related art;
fig. 3 is a schematic flowchart of an indoor positioning method based on bluetooth communication according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a positioning scenario provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a three-dimensional array antenna according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a positioning method according to an embodiment of the present application;
FIG. 7 is a schematic diagram of angle conversion in a first reference plane provided in an embodiment of the present application;
FIG. 8 is a schematic diagram illustrating angle conversion in a second reference plane according to an embodiment of the present application;
fig. 9 is a schematic view of another angle conversion provided in the embodiment of the present application;
fig. 10 is a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application;
fig. 11 is a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application;
fig. 12 is a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application;
fig. 13 is a schematic view of another positioning scenario provided in the embodiment of the present application.
Detailed Description
In order to better understand the technical solution of the present application, the following detailed description is made with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The indoor positioning means that position positioning is realized in an indoor environment, and a set of indoor position positioning system is formed by mainly integrating various technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capture and the like, so that position monitoring of personnel, objects and the like in an indoor space is realized. In the related art, common indoor positioning methods include position fingerprint positioning and multi-antenna positioning. The principles of position fingerprinting and multi-antenna positioning are explained below separately.
Positioning the position fingerprint:
referring to fig. 1, a schematic view of a location fingerprint positioning scenario provided in an embodiment of the present application is shown. As shown in fig. 1, 3 beacons, beacon a, beacon B, and beacon C, are arranged and installed in the positioning area. The beacon a, the beacon B, and the beacon C are used to transmit signals, and it can be understood that the Signal characteristic parameters of the signals transmitted by the beacon a, the beacon B, and the beacon C, which are Received by the receiver at different positions in the positioning area, are different, and the Signal characteristic parameters may be Received Signal Strength (RSSI), multipath phase angle component power, and the like. Based on the principle, if the corresponding relation between the signal characteristic parameters in the positioning area and the position information is known, the position information of the receiver can be determined according to the signal characteristic parameters acquired by the receiver.
Specifically, location fingerprinting involves two phases: the first stage is a training/off-line stage, and the main work is to collect signal characteristic parameters of each reference point in a required positioning area, such as signal field intensity, multipath phase angle component power and the like, establish a corresponding relation between position information and the signal characteristic parameters and form a fingerprint database; the second stage is a positioning/on-line stage, which utilizes the receiver to measure the signal characteristic parameters of the received signals, and adopts a matching algorithm to determine which group of data in the fingerprint database the signal characteristic parameters of the received signals are matched with, thereby determining the position information of the receiver.
However, the location fingerprint positioning is not suitable for an area with too fast environmental change, in addition, the accuracy of the location fingerprint positioning depends on the size of the database, if the positioning accuracy is to be improved, a huge database needs to be established, and the database needs to be updated regularly or irregularly.
Positioning a plurality of antennas:
in the embodiments of the present application, a circular array antenna is taken as an example to describe the positioning of multiple antennas.
Fig. 2 is a schematic structural diagram of a circular array antenna in the related art. In the circular array antenna, 8 antennas, antenna 0-antenna 7, are included, and the 8 antennas are uniformly distributed on a circumference with a radius R. The signals are received by a circular array antenna, and a proper algorithm is added, so that the direction measurement can be carried out on a plurality of signals from different directions. For example, direction finding of spatial multi-signals may be implemented based on a multi Signal Classification algorithm (MUSIC). The basic idea of the MUSIC algorithm is to perform eigen decomposition on a covariance matrix of arbitrary array output data, so as to obtain a signal subspace corresponding to signal components and a noise subspace in which the signal components are orthogonal, and then estimate parameters (incident direction, polarization information and signal strength) of a signal by using the orthogonality of the two subspaces. The specific algorithm is described in detail below.
Theoretically, the multi-antenna positioning can obtain higher positioning accuracy, but the multi-antenna positioning cannot solve the influence of obstacles in a positioning area on signals.
In view of the above technical problems in location fingerprint positioning and multi-antenna positioning, embodiments of the present application provide an indoor positioning method, system and computer-readable storage medium, which combine location fingerprint positioning and multi-antenna positioning, so as to facilitate solving the problems in the prior art that location fingerprint positioning is not suitable for an area with too fast environmental change and a huge database needs to be established, and multi-antenna positioning cannot solve the problem of influence of obstacles in the positioning area on signals.
Referring to fig. 3, a schematic flowchart of an indoor positioning method based on bluetooth communication according to an embodiment of the present application is shown. As shown in fig. 3, the method mainly includes the following steps.
Step S301: arranging and installing beacons and array antennas in the positioning area.
Specifically, the user may perform area division according to the environment of the positioning area, and arrange and mount the beacon and the array antenna in the positioning area, respectively.
Referring to fig. 4, a schematic view of a positioning scenario provided in the embodiment of the present application is shown. As shown in fig. 4, the positioning area is divided into a first positioning area and a second positioning area, and the array antenna P is arranged and installed in the first positioning area, so that the target in the first positioning area can be positioned by the array antenna P; and arranging and installing the array antenna Q in the second positioning area, and positioning the target in the second positioning area through the array antenna Q.
In addition, 5 fingerprint beacons, namely beacon A, beacon B, beacon C, beacon D and beacon E, are arranged and installed in the positioning area. The target in the first positioning area can be positioned through the beacon A, the beacon B and the beacon C; and positioning the target in the second positioning area through the beacon A, the beacon D and the beacon E.
Step S302: and establishing a fingerprint database according to the beacon, wherein the fingerprint database comprises the association information of the signal fingerprint and the coordinate position.
It can be understood that if a beacon is used for positioning, a fingerprint library needs to be established first based on the beacon installed in the arrangement. Specifically, a certain number of reference points may be set in the positioning area, signal characteristic parameters related to the position information may be collected at positions of the reference points, the position information of the reference points may be obtained through a plane coordinate diagram of the positioning area, and the signal characteristic parameters collected at the reference points and the respective position information are associated to establish a fingerprint library. After the fingerprint database is established, the target in the positioning area can be positioned based on the position fingerprint positioning method.
It can be understood that the accuracy of location fingerprint positioning depends on the size of the database, and if the positioning accuracy is to be improved, a huge database needs to be established, and the database needs to be updated regularly or irregularly. In the embodiment of the application, in order to reduce the size of the database as much as possible under the condition of ensuring the positioning precision, the precision of the fingerprint databases at different positions in the positioning area is distinguished, and the fingerprint database of the area where the array antenna cannot be accurately positioned is established in a key manner.
Specifically, the fingerprint library accuracy within the coverage area of the configured array antenna is less than the fingerprint library accuracy outside the coverage area of the array antenna. Wherein the area outside the coverage area of the array antenna includes a maximum coverage distance beyond the coverage area of the array antenna (e.g., the area outside the dashed circle in fig. 4), and/or an area blocked by an obstacle (e.g., the antenna signal shadow area shown in fig. 4).
Because the target can be positioned based on the array antenna in the coverage area of the array antenna, even if the accuracy of the fingerprint database in the coverage area of the array antenna is low, the final positioning accuracy is not greatly influenced. On the contrary, outside the coverage area of the array antenna, since the target can only be located by the position fingerprint location method, the accuracy of the fingerprint database in the area needs to be improved as much as possible to ensure that higher location accuracy can be obtained in the area.
Step S303: and determining the target position in the positioning area according to the beacon and/or the array antenna.
Because the beacon and the array antenna exist in the positioning area at the same time, the target in the positioning area can be positioned by a position fingerprint positioning method and can also be positioned by the array antenna.
In addition, according to the configuration of the fingerprint database in the embodiment of the application, the positioning accuracy of the array antenna is higher in the coverage area of the array antenna, so that the array antenna is preferentially adopted to position the target; and when the target is positioned outside the coverage area of the positioning area of the array antenna, positioning the target by adopting a position fingerprint positioning method.
Specifically, the determining the target position in the positioning area according to the beacon and/or the array antenna includes:
if the array antenna detects a target, determining the position of the target according to the positioning result of the array antenna; and if the array antenna does not detect the target, determining the position of the target according to the positioning result of the beacon. That is, if the target is located in the coverage area of the array antenna, determining the position of the target according to the positioning result of the array antenna; and if the target is positioned outside the coverage area of the array antenna, determining the position of the target according to the positioning result of the beacon.
In an alternative embodiment, there may be two or two array antennas in the positioning area, and if the array antennas detect the target, determining the position of the target according to the positioning result of the array antennas includes: determining the area of the target according to the positioning result of the beacon; and determining the position of the target according to the positioning result of the array antenna in the area where the target is located.
For example, in the localization scenario shown in FIG. 4, a first target is localized. According to the beacon a, the beacon B and the beacon C, it is determined that the first target is located in the first positioning area, that is, the first target is located in the area where the array antenna P is located, and therefore, the first target can be positioned according to the array antenna P.
For another example, in the positioning scenario shown in fig. 4, the second target is positioned. And determining that the second target is located in the second positioning area according to the beacon A, the beacon D and the beacon E, namely determining that the second target is located in the area of the array antenna Q. However, if the second target is outside the coverage area of the array antenna Q, and the second target is located by using the array antenna Q at this time, the location result of the array antenna Q may have an anomaly (exceeding the rated location distance, and a common anomaly phenomenon may also include a jump change in the value), and therefore, the second target is located based on the beacon a, the beacon D, and the beacon E.
In the embodiment of the application, the position fingerprint positioning and the multi-antenna positioning are combined, the multi-antenna positioning is preferentially adopted to determine the position of the target, and when the target is out of the coverage range of the multi-antenna positioning, the position fingerprint positioning is adopted to determine the position of the target. The influence of obstacles in a specific place on the positioning of the multiple antennas can be eliminated; the problem of poor fingerprint positioning effect of the area position with large environmental change is solved; and under the condition of ensuring the positioning accuracy, the size of the fingerprint database is reduced as much as possible.
It should be noted that fig. 4 is only an exemplary illustration, and should not be taken as a limitation of the scope of the present application. For example, those skilled in the art can adjust the installation position and number of the beacons and the installation position and number of the array antennas according to the scene of the positioning area, which all fall within the protection scope of the present application.
In one possible implementation, RSSI is used as a signal characteristic parameter in location fingerprinting. The RSSI is a necessary parameter for the normal operation of most wireless communication devices, and the mobile terminal basically has the capability of acquiring the RSSI.
For an occluded environment, a commonly used signal attenuation model is a logarithmic distance loss model, i.e.:
RSSI (d) = RSSI (d 0) -10 α lgd/d0, RSSI (d) is the received signal strength at transmission distance d; d0 is a known reference distance; RSSI (d 0) is the received signal strength at the reference distance d 0; α is a path attenuation exponent, generally between 2 and 5, and α =2 is taken in unobstructed free space, and α =2.6 is generally taken in indoor environments depending on the complexity.
The positioning principle of the array antenna is explained below.
The array antenna adopts a multi-array element form, and by correctly designing the structure of the array and selecting the proper number of array elements, the wide-frequency-band and omnibearing positioning can be obtained. Common array structures include linear arrays, rectangular arrays, and circular arrays. A circular array is one of the most common positioning antenna arrays, and a plurality of non-directional antennas with the same shape and characteristics are generally uniformly arranged on a circle to form a uniform circular array. Theoretically speaking, in the process of acquiring positioning data once, the number of the antennas on the used circular array influences the data acquisition precision, and the more the number of the antennas is, the higher the precision is. However, in practical applications, the number of circular array antennas is affected by the mutual influence of the antenna layouts, the number of antennas supported by the chip, and the design cost. In addition, due to the influence of factors such as multipath reception, signal polarization, propagation delay, noise and jitter, the stability and robustness of data received by the circular array antenna are poor.
In addition, the circular arrays in the related art are all planar circular arrays, that is, the antennas in the circular arrays are all located in one plane, and the direction-finding accuracy is low in the normal direction of the plane of the circular arrays and in the area far away from the normal direction.
In view of the above problems, embodiments of the present application provide a novel stereo array antenna, which is described in detail below with reference to the accompanying drawings.
Fig. 5 is a schematic structural diagram of a three-dimensional array antenna according to an embodiment of the present application. As shown in fig. 5, the three-dimensional array antenna divides a circular array into two semicircular arrays, and for convenience of illustration, the semicircular array on the left side in fig. 5 is defined as a first semicircular array, and the semicircular array on the right side is defined as a second semicircular array.
Wherein, the first semicircular array comprises 4 antennas, which are respectively antenna 1, antenna 2, antenna 3 and antenna 4. The antenna 1 is located at the center of the first semicircular array, and the antennas 2, 3 and 4 are uniformly distributed at the arc positions of the first semicircular array. The second semicircular array comprises 4 antennas, antenna 0, antenna 5, antenna 6 and antenna 7 respectively. The antenna 0 is located at the circle center position of the second semicircular array, and the antenna 5, the antenna 6 and the antenna 7 are uniformly distributed at the arc position of the second semicircular array.
It should be understood that fig. 5 is only one possible implementation manner listed in the embodiments of the present application, and should not be taken as a limitation to the scope of the present application. For example, from the number of antennas, the first semicircular array and the second semicircular array may include N and M antennas, respectively, 1 antenna of the N antennas is located at the center of the first semicircular array, N-1 antenna is located at the semicircular arc position of the first semicircular array, 1 antenna of the M antennas is located at the center of the second semicircular array, M-1 antenna is located at the semicircular arc position of the second semicircular array, N is greater than or equal to 3, M is greater than or equal to 3. That is, as far as the above constraint is satisfied, the number of antennas should be within the scope of the present application.
In an alternative embodiment, the N-1 antennas are evenly distributed at semi-circular arc positions of the first semi-circular array; and/or the M-1 antennas are uniformly distributed at the semi-circular arc position of the second semi-circular array.
In an alternative embodiment, the antenna at the center of the first semicircular array is a reference antenna of the first semicircular array; and/or the antenna at the circle center position of the second semicircular array is a reference antenna of the second semicircular array.
The array antenna provided by the embodiment of the application is a three-dimensional array antenna, namely, all the antennas are in different planes. Defining the plane where the first semicircular array is located as a first plane, defining the plane where the second semicircular array is located as a second plane, wherein the included angle between the first plane and the second plane is delta, and the delta meets the condition: 0 degree is more than delta and less than 180 degrees.
In addition, the diameters of the first and second semicircular arrays are parallel to each other. It can be understood that if the diameter of the first semicircular array coincides with the diameter of the second semicircular array, that is, the center of the second semicircular array coincides with the center of the second semicircular array, the first semicircular array and the second semicircular array form a complete circle. However, due to the physical structure limitation, the first semicircular array and the second semicircular array need to be maintained at a certain distance. That is to say, the three-dimensional array antenna provided by the embodiment of the present application is not a strict circular array, but a three-dimensional array structure formed by two semicircular arrays that are spaced by a certain distance and folded by a certain angle.
In the embodiment of the application, the positioning of the target object in a specific range in a three-dimensional space can be realized through the stereo array antenna with a special included angle, and the stability and robustness of received data are improved.
For circular arrays, direction finding of spatial Multiple signals can be typically implemented based on Multiple Signal Classification (MUSIC). The basic idea of the MUSIC algorithm is to perform characteristic decomposition on a covariance matrix of any array output data to obtain a signal subspace corresponding to a signal component and a noise subspace in which the signal component is orthogonal, and then estimate parameters (an incident direction, polarization information and signal strength) of a signal by using the orthogonality of the two subspaces.
In the embodiment of the application, the first semicircular array and the second semicircular array respectively perform direction detection on the signal to be detected through the MUSIC algorithm, and then angle information of the signal to be detected relative to the stereo array antenna is calculated based on angle information detected by the first semicircular array and the second semicircular array.
Fig. 6 is a schematic flow chart of a positioning method according to an embodiment of the present application. The method can be applied to the three-dimensional array antenna shown in fig. 5, as shown in fig. 6, which mainly comprises the following steps.
Step S601: the method comprises the steps of carrying out angle detection through a first semicircular array to obtain first angle information, wherein the first angle information is a pitch angle and/or an azimuth angle of a signal to be detected relative to a first reference antenna, and the first reference antenna is the reference antenna of the first semicircular array.
Specifically, the first semicircular array performs signal detection based on the MUSIC algorithm to obtain first angle information. It can be understood that the first angle information is the angle information of the signal to be measured with respect to the first reference antenna.
In a preferred embodiment, the first reference antenna is an antenna located at the center of the first semicircular array. Of course, a person skilled in the art may also set an antenna in any semicircular arc position as the reference antenna, which is not particularly limited by the embodiment of the present application.
Step S602: and performing angle detection through the second semicircular array to obtain second angle information, wherein the second angle information is a pitch angle and/or an azimuth angle of the signal to be detected relative to a second reference antenna, and the second reference antenna is a reference antenna of the second semicircular array.
Specifically, the second semicircular array performs signal detection based on the MUSIC algorithm to obtain second angle information. It can be understood that the second angle information is the angle information of the signal to be measured relative to the second reference antenna.
In a preferred embodiment, the second reference antenna is an antenna located at the center of the second semicircular array. Of course, a person skilled in the art may also set an antenna in any semicircular arc position as the reference antenna, which is not particularly limited by the embodiment of the present application.
Step S603: and determining third angle information and distance information according to the first angle information, the second angle information, the relative positions of the first reference antenna and the second reference antenna and the included angle delta between the first plane and the second plane.
The third angle information is a pitch angle and/or an azimuth angle of a signal to be detected relative to the central point of the three-dimensional array antenna, and the distance information is a distance of the signal to be detected relative to the central point of the three-dimensional array antenna.
It is noted that different third angle information and distance information are obtained in different reference planes. It can be understood that the third angle information and the distance information in the three-dimensional space can be obtained by respectively calculating the third angle information and the distance information in combination with different reference planes.
Therefore, the step S603 specifically includes: in a first reference plane, determining third angle information and distance information in the first reference plane according to the first angle information, the second angle information, the relative positions of the first reference antenna and the second reference antenna, and an included angle δ between the first plane and the second plane; in a second reference plane, determining third angle information and distance information in the second reference plane according to the first angle information, the second angle information, the relative positions of the first reference antenna and the second reference antenna, and an included angle δ between the first plane and the second plane; and determining third angle information and distance information in a three-dimensional space according to the third angle information and distance information in the first reference plane and the third angle information and distance information in the second reference plane. Specifically, the principle of angle conversion in different reference planes will be described by taking the three-dimensional array antenna shown in fig. 5 as an example.
Angular scaling in the first reference plane:
referring to fig. 7, a schematic diagram of angle conversion in a first reference plane is provided in the embodiment of the present application. In fig. 7, a rectangular plane coordinate system XOY is established with a straight line where the position a of the first reference antenna and the position B of the second reference antenna are located as a Y-axis and a straight line perpendicular to the Y-axis and passing through an origin O as an X-axis. It can be understood that the rectangular plane coordinate system XOY is the first reference plane.
The origin O is the midpoint of the point A and the point B, the X axis passes through the central points W of the first semicircular array and the second semicircular array, and a straight line which passes through the position C of the signal to be detected and is perpendicular to the y axis and the foot of the y axis are P. As can be seen from fig. 5, the center point W of the first semicircular array and the second semicircular array is the midpoint of the intersection line of the first semicircular array and the second semicircular array.
In the rectangular plane coordinate system XOY, an included angle δ between the first plane and the second plane is ≧ AWB, and a formula one exists in Δ AWB:
L 2 AB ＝L 2 WA +L 2 WB -2L WA L WB cosδ
wherein L is AB Is the distance from point A to point B, L WA Is the distance from point W to point A, L WB Is the distance from point W to point B.
An included angle between a straight line passing through the point A and the point C and the X axis is the first angle information alpha 1, and a formula II exists in the delta CPA:
tan(90°-α1)＝L CP /L PA
wherein L is CP Distance between point C and point P, L PA Is the distance between point P and point a.
An included angle between a straight line passing through the point B and the point C and the X axis is the second angle information beta 1, and a formula III exists in the delta CPB:
tan(90°-β1)＝L CP /(L PA +L AO +L OB )
wherein L is CP Distance between point C and point P, L PA Distance of point P from point A, L AO Distance between point A and point O, L OB The distance between point O and point B.
Obtaining L according to the formula I, the formula II and the formula III CP And L PA 。
An included angle between a straight line passing through the point O and the point C and the X axis is the third angle information θ 1, and a formula four exists in the Δ CPO:
tan(90°-θ1)＝L CP /(L PA +L AO )
and obtaining third angle information theta 1 in the rectangular plane coordinate system XOY according to the formula IV.
The distance from the point O to the point C is the distance information L OC In Δ CPO, there is the formula five:
L OC 2 ＝L CP 2 +(L AO +L PA ) 2 ，
or sin (90 ° - θ 1) = L CP /L OC ，
Or cos (90 ° - θ 1) = (L) PA +L AO )/L OC
Obtaining distance information L in the rectangular plane coordinate system XOY according to the formula five OC 。
In the embodiment of the application, the circular array is divided into two semicircular arrays in half, and signal positioning is performed based on the two semicircular arrays, so that the stability and robustness of received data can be improved. In an application scenario supporting a small number of antennas (for example, a chip supports only 4 antennas or 8 antennas), reliable data acquisition can be performed, thereby improving the positioning angle and accuracy.
In addition, the two semicircular arrays form a three-dimensional structure, so that the positioning accuracy of a target object in a specific range in a three-dimensional space can be improved, reliable data acquisition is carried out, and the positioning angle and the positioning accuracy are further improved.
Angle conversion in the second reference plane:
referring to fig. 8, a schematic diagram of angle conversion in a second reference plane is provided in the embodiment of the present application. In fig. 8, a plane orthogonal coordinate system YW' Z is established with a straight line where the position a of the first reference antenna and the position B of the second reference antenna are located as a Y-axis and a straight line parallel to an intersection line of the first plane and the second plane as a Z-axis. It can be understood that the rectangular plane coordinate system YW' Z is a second reference plane.
The intersection point of the Y axis and the Z axis is W ', the point W ' is the midpoint of the point A and the point B, and the straight line passing through the position C of the signal to be detected and vertical to the Y axis and the foot of the Y axis are P '. As can be seen from fig. 5, the point W' is a projection of the center points W of the first and said second semicircular arrays in the second reference plane.
An included angle between a straight line passing through the point a and the point C and the Z axis is the first angle information α 2, and a formula six exists in Δ CP' a:
tan(90°-α2)＝L CP’ /L P’A
wherein L is CP’ Distance between point C and point P', L P’A Is the distance between point P' and point a.
An included angle between a straight line passing through the point B and the point C and the Z axis is the second angle information beta 2, and a formula seven exists in the delta CP' B:
tan(90°-β2)＝L CP’ /(L P’A +L AW’ +L W’B )
wherein L is CP’ Distance between point C and point P', L P’A Distance between point P' and point A, L AW’ Distance between point A and point W', L W’B Is the distance between point W' and point B.
Obtaining L according to the formula six and the formula seven CP’ And L P’A 。
An included angle between a straight line passing through the point W ' and the point C and the Z axis is the third angle information θ 2, and a formula eight exists in Δ CP ' W ':
tan(90°-θ2)＝L CP’ /(L P’A +L AW’ )
and obtaining third angle information theta 2 in the plane rectangular coordinate system YW' Z according to the formula II.
The distance from the point W' to the point C is the distance information L W’C In Δ CP 'W', there is the formula nine:
L W’C 2 ＝L CP’ 2 +(L AW ’+L P’ A) 2 ，
or sin (90 ° - θ 2) = L CP’ /L W’C ，
Or cos (90 ° - θ 2) = (L) P’A +L A W’ )/L W’C
Obtaining distance information L in the plane rectangular coordinate system YW' Z according to the formula W’C 。
It can be understood that, in the embodiment of the present application, rectangular plane coordinate system XOY and rectangular plane coordinate system YW' Z are perpendicular to each other, and third angle information θ 1 and distance information L in rectangular plane coordinate system XOY are combined OC And third angle information θ 2 and distance information L in the plane rectangular coordinate system YW' Z W’C The distance information L can be determined W’C 。
In the above embodiment, the first semicircular array and the second semicircular array in the three-dimensional array antenna are respectively illustrated by taking 4 antennas as an example. It is understood that the number of antennas can be adjusted by those skilled in the art according to actual needs.
In addition, in the above-described embodiment, the antenna located at the center of the semicircular array is used as the reference antenna. Of course, those skilled in the art can use antennas at other positions as the reference antenna according to actual needs.
Referring to fig. 9, another schematic diagram of angle conversion is provided in the embodiment of the present application. The difference between the embodiment of the present application and the embodiment shown in fig. 7 is that in the semicircular array, the antenna 3 is used as the first reference antenna, and the point a' in fig. 9 corresponds to the center point of the antenna 3 in fig. 5. Correspondingly, the first angle information obtained by the signal detection performed by the first semicircular array is the angle γ of the signal to be detected relative to the antenna 3.
In addition, from the angles γ and β 1, and the relative distances of the point C, the point a', and the point B, the angle θ 1 can be calculated, i.e., the third angle information is obtained. Other contents of the embodiments of the present application can be referred to the description in the example shown in fig. 7, and for brevity, are not described again here.
In the above embodiment, the first semicircular array and the second semicircular array in the array antenna are respectively illustrated by taking 4 antennas as an example. It is understood that the number of antennas can be adjusted by those skilled in the art according to actual needs.
Referring to fig. 10, a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application is shown. The embodiment of the present application is different from the embodiment shown in fig. 5 in that the first semicircular array and the second semicircular array respectively include 3 antennas, where the antenna 1 of the first semicircular array is located at the center of the circle, and the antennas 2 and 3 are located at the semicircular arc; the antenna 0 of the second semicircular array is located at the center of the circle, and the antennas 4 and 5 are located at the semicircular arc positions. Other contents of the embodiments of the present application can be referred to the description in the example shown in fig. 5, and for brevity, are not repeated herein.
Fig. 11 is a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application. The embodiment of the present application is different from the embodiment shown in fig. 5 in that the first semicircular array and the second semicircular array respectively include 5 antennas, wherein the antenna 1 of the first semicircular array is located at the center of a circle, and the antenna 2, the antenna 3, the antenna 4 and the antenna 5 are uniformly distributed at the semicircular arc positions; the antenna 0 of the second semicircular array is located at the circle center position, and the antenna 6, the antenna 7, the antenna 8 and the antenna 9 are uniformly distributed at the semicircular arc position. Other contents of the embodiments of the present application can be referred to the description in the example shown in fig. 5, and for brevity, are not described again here.
In the above embodiment, the number of antennas of the first semicircular array and the second semicircular array is equal. Of course, those skilled in the art can set the number of the antennas of the first semicircular array and the second semicircular array to be different according to actual needs.
Fig. 12 is a schematic structural diagram of another stereoscopic array antenna provided in the embodiment of the present application. The embodiment of the present application differs from the embodiment shown in fig. 5 in that the first semicircular array includes 3 antennas, namely, antenna 1, antenna 2, and antenna 3. The antenna 1 is located at the center of the first semicircular array, and the antennas 2 and 3 are located at the semicircular arc positions. The second semicircular array is the same as the embodiment shown in fig. 5, and is not described herein again.
In order to facilitate those skilled in the art to better understand the technical solution of the present application, the MUSIC algorithm is described in detail below.
Step 1: performing data vector calculation according to a data model Y (t) = A' X (t) + N (t), wherein Y is an array output data complex vector,x is a space signal complex vector, N is array noise, A 'is a direction matrix of the array, and A' = [ a (theta) ] 1 )，a(θ 2 )，…，a(θ n )]。
And 2, step: calculating the covariance matrix of X
Figure GDA0003663776940000111
And step 3: performing eigenvalue decomposition R on the covariance matrix Y ＝[U 1 ，U 2 ，…，U M ]diag(λ 1 ，λ 2 ，…，λ N )[U 1 ，U 2 ，…，U M ] H Where M is the number of antennas in the array, λ i Is a matrix R Y I-th characteristic value of (U) i Is a feature vector corresponding to the feature value.
And 4, step 4: constructing mutually orthogonal signal subspaces U from decomposed eigenvalues S Sum noise subspace U N Wherein the signal subspace U S A noise subspace U, which is a space composed of eigenvectors corresponding to D large eigenvalues of the decomposed eigenvalues N And D is a space formed by eigenvectors corresponding to the small M-D eigenvalues in the decomposed eigenvalues, wherein D is the number of space signals incident to the array.
And 5: constructing spatial spectral functions
Figure GDA0003663776940000112
And solving the maximum value of the ordinary function in the spatial spectrum domain to obtain the angle corresponding to the spectrum peak, wherein the angle corresponding to the spectrum peak is the angle of the signal to be measured. In the embodiment of the application, a calculation algorithm matched with the array antenna in special arrangement is adopted, so that the positioning angle and the positioning precision are improved.
It should be noted that in actual processing, Y obtains data as a finite number of samples in a finite period of time. The signals received by the antennas on the array are successively sampled, each sample corresponding to a frame of data.
In the embodiment of the present application, the signal sampling time corresponding to the first semicircular array is different from the signal sampling time corresponding to the second semicircular array. In a preferred embodiment, the signal sampling time intervals corresponding to the first and second semicircular arrays are one sampling period apart.
The three-dimensional array antenna provided by the embodiment of the application equally divides the circular array into two semicircular arrays, and carries out signal positioning based on the two semicircular arrays, so that the stability and robustness of received data can be improved. In an application scenario that the number of antennas is small (for example, a chip only supports 4 antennas or 8 antennas), reliable data acquisition can be performed, and thus the positioning angle and accuracy are improved. In addition, the two semicircular arrays form a three-dimensional structure, so that the positioning accuracy of a target object in a specific range in a three-dimensional space can be improved, reliable data acquisition is carried out, and the positioning angle and the positioning accuracy are further improved.
When the stereo array antenna is applied to the indoor positioning method shown in fig. 3, the included angle δ between the first plane and the second plane of the stereo array antenna can be designed according to the size of the area of the stereo array antenna to be positioned.
For example, in a positioning area of 65 square meters, an included angle δ between a first plane and a second plane of the stereoscopic array antenna may be set to 60 °; the angle δ between the first plane and the second plane of the volumetric array antenna may be set to 120 ° within a positioning area of 225 square meters.
In an alternative embodiment, the included angle δ between the first plane and the second plane of the three-dimensional array antenna can be designed according to the distribution of the obstacles in the positioning area.
Referring to fig. 13, a schematic view of another positioning scenario provided in the embodiment of the present application is shown. The application scenario shown in fig. 13 is different from the application scenario shown in fig. 4 in that the included angle δ between the first plane and the second plane of the volumetric array antenna is designed according to the distribution of the obstacles in the positioning region, so that the obstacles are located outside the coverage area of the volumetric array antenna.
Of course, a person skilled in the art may set the included angle δ between the first plane and the second plane of the stereoscopic array antenna by other considerations, which is not specifically limited by the embodiment of the present application. For example, in an environment where no obstacles are distributed, an angle δ between a first plane and a second plane of the volumetric array antenna may be set to 180 °, so that a coverage area of the volumetric array antenna is maximized.
Corresponding to the above indoor positioning method, an embodiment of the present application further provides an indoor positioning system, including: arranging beacons and array antennas installed in the positioning area; one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions which, when executed, cause the system to perform the method of any of the above method embodiments.
For the specific contents of the system embodiment, reference may be made to the method embodiment described above, and for brevity, details are not repeated here.
In specific implementation, this application still provides a BLE chip, include: an array antenna; a processor; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed, cause the system to perform the method of any of the above method embodiments.
In specific implementation, the present application further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments provided in the present application when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), or the like.
In a specific implementation, an embodiment of the present application further provides a computer program product, where the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer is caused to perform some or all of the steps in the foregoing method embodiment.
In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only an embodiment of the present application, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and all of them should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims (9)

1. An indoor positioning method based on Bluetooth communication is characterized by comprising the following steps:
arranging and installing beacons and array antennas in a positioning area;
establishing a fingerprint database according to the beacon, wherein the fingerprint database comprises association information of the signal fingerprint and the coordinate position;
determining a target position within the positioning area according to the beacon and/or the array antenna;
if the array antenna detects a target, determining the position of the target according to the positioning result of the array antenna;
if the array antenna does not detect the target, determining the position of the target according to the positioning result of the beacon;
the array antenna is a three-dimensional array antenna, and the three-dimensional array antenna comprises a first semicircular array and a second semicircular array;
the first semicircular array and the second semicircular array respectively comprise N antennas and M antennas, 1 antenna in the N antennas is located at the circle center position of the first semicircular array, N-1 antennas are located at the semicircular arc position of the first semicircular array, 1 antenna in the M antennas is located at the circle center position of the second semicircular array, M-1 antennas are located at the semicircular arc position of the second semicircular array, N is more than or equal to 3, and M is more than or equal to 3;
n antennas in the first semicircular array are located in a first plane, M antennas in the second semicircular array are located in a second plane, an included angle between the first plane and the second plane is delta, and the diameters of the first semicircular array and the second semicircular array are parallel to each other.
2. The method of claim 1, wherein the building a fingerprint library based on the beacon comprises:
and establishing a fingerprint database according to the beacon and the coverage area of the array antenna, wherein the accuracy of the fingerprint database configured in the coverage area of the array antenna is smaller than the accuracy of the fingerprint database configured outside the coverage area of the array antenna.
3. The method according to claim 2, wherein the outside of the coverage area of the array antenna comprises a maximum coverage distance beyond the coverage area of the array antenna and/or an area obscured by an obstacle.
4. The method of claim 1, wherein the number of the array antennas is two or more, and the determining the target position according to the positioning result of the array antennas if the array antennas detect the target comprises:
determining the area of the target according to the positioning result of the beacon;
and determining the position of the target according to the positioning result of the array antenna in the area where the target is located.
5. The method of claim 1,
the N-1 antennas are uniformly distributed at the semi-arc position of the first semi-circular array; and/or the presence of a gas in the atmosphere,
and the M-1 antennas are uniformly distributed at the semi-circular arc position of the second semi-circular array.
6. The method of claim 1,
the antenna at the center of the first semicircular array is a reference antenna of the first semicircular array; and/or the presence of a gas in the atmosphere,
and the antenna at the circle center position of the second semicircular array is a reference antenna of the second semicircular array.
7. The method of claim 1,
an included angle between the first plane and the second plane is delta, and the included angle meets the condition that: 0 degree is more than delta and less than 180 degrees.
8. An indoor positioning system based on bluetooth communication, comprising:
arranging beacons and array antennas installed in the positioning area;
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions that, when executed, cause the system to perform the method of any of claims 1-7.
9. A BLE chip, comprising:
an array antenna;
a processor;
a memory;
and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed, cause the BLE chip to perform the method of any one of claims 1-7.
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