CN113747566A - Floor positioning method and system based on Beacon signal, mobile terminal and storage medium - Google Patents
Floor positioning method and system based on Beacon signal, mobile terminal and storage medium Download PDFInfo
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- CN113747566A CN113747566A CN202110997628.3A CN202110997628A CN113747566A CN 113747566 A CN113747566 A CN 113747566A CN 202110997628 A CN202110997628 A CN 202110997628A CN 113747566 A CN113747566 A CN 113747566A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- 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
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- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a floor positioning method, a floor positioning system, a mobile terminal and a storage medium based on Beacon signals, wherein the method comprises the following steps: ranking the RSSI values of the Beacon signals of the Beacon base stations of each floor read by the mobile terminal according to a descending order; calculating the sum of the relative radiation intensities of the Beacon signals of N (N is more than or equal to 1) Beacon base stations at the top of the rank in each layer, and calculating the sum of the relative radiation intensities of all the Beacon signals of a certain layer if the number of the Beacon signals read by the layer is less than N; finding out the floor with the maximum relative radiation intensity sum, judging the floor as the floor where the current mobile terminal is located, and continuously positioning and jumping the floor to achieve the unstable phenomenon by aiming at the floorm（m≥1) And determining the floor by positioning the time window. By adopting the technical scheme of the invention, the floor can be accurately positioned.
Description
Technical Field
The invention relates to the field of indoor positioning, in particular to a floor positioning method and system based on Beacon signals, a mobile terminal and a storage medium.
Background
When the exit or the shop is found through Baidu or Gaode map navigation in other large buildings, the problem is found, and the accuracy of GPS positioning is often inferior to that of outdoor navigation, because the traditional outdoor positioning such as GPS and Beidou cause signal attenuation problems due to building materials in the buildings. In order to solve the problem of inaccuracy of indoor positioning, Beacon indoor positioning is proposed in the industry. Indoor location based on Beacon can be applied to market shopping guide, indoor people flow analysis, parking area guide, among the indoor activities such as intelligent guide robot.
Beacon is a small-sized low-power-consumption Bluetooth base station, the low-power-consumption Bluetooth base stations ceaselessly send Beacon broadcast messages to the outside, and after mobile terminals carrying Bluetooth 4.0 modules receive the Beacon broadcast messages, the mobile terminals measure the received power and then bring the received power into a function of power attenuation and distance relation, so that the distance from the Beacon base station is calculated. And by utilizing the distance crossing from a plurality of Beacon base stations, the multipoint positioning can be realized.
Because indoor Beacon signals are generally scattered all around, when a hollow area is shared by multiple floors, Beacon signals from multiple floors are often received, if positioning is carried out by relying on the Beacon signals, the floor where the positioning is needs to be calculated firstly, and then the positioning is calculated in the floor. The floors are positioned from the signals of the floor equipment, a plurality of processing methods are available in the market, and the problems of inaccurate floor positioning, floor jumping and the like often exist in the processing result.
Disclosure of Invention
The invention aims to provide a floor positioning method and system based on Beacon signals, a mobile terminal and a storage medium, aiming at the technical problem of inaccurate floor positioning in Beacon signal positioning in the prior art.
The embodiment of the invention provides a floor positioning method based on Beacon signals, which comprises the following steps:
ranking the RSSI values of the Beacon signals of the Beacon base stations of each floor read by the mobile terminal according to a descending order;
calculating the sum of the relative radiation intensities of the Beacon signals of N (N is more than or equal to 1) Beacon base stations at the top of the rank in each layer, and calculating the sum of the relative radiation intensities of all the Beacon signals of a certain layer if the number of the Beacon signals read by the layer is less than N;
and finding out the floor with the maximum sum of the relative radiation intensities, and judging the floor as the floor where the current mobile terminal is located.
In the embodiment of the invention, the calculation mode of the total relative radiation intensity of each layer is as follows:
wherein the content of the first and second substances,iis the serial number of the floor,jthe serial number of the equipment belonging to the floor,N i is a flooriThe number of Beacon base stations in the Beacon base station,N i ≤N，RSSI ij the floor number received for the mobile terminal isiEquipment serial number isjThe signal strength of the Beacon base station of (1),RSSIB ij is numbered as flooriEquipment serial number isjThe Beacon base station of (1) signal strength at 1 meter.
In the embodiment of the invention, the floor of the mobile terminal is judged at intervals of a fixed time window aiming at the unstable phenomenon of back-and-forth floor jump of floor positioning of the continuous time window, and when the continuous time window is used, the floor of the mobile terminal is judgedm（m≥1) And when the floor judged by each time window is the same floor, positioning the floor as the current floor.
In the embodiment of the invention, if the continuity is not satisfiedm（m≥1) If the floor judged by each time window is the same floor, the current floor is still determined as the floormThe floor located before the time window.
The embodiment of the invention also provides a positioning system based on Beacon signals, which comprises a mobile terminal and a plurality of Beacon base stations arranged in a building,
the plurality of Beacon base stations are distributed on each floor of the building and used for sending Beacon signals;
the mobile terminal is used for ranking the read RSSI values of the Beacon signals of the Beacon base stations of each floor according to a descending order, calculating the sum of the relative radiation intensities of the Beacon signals of N (N is larger than or equal to 1) Beacon base stations with the top ranking in each floor, calculating the sum of the relative radiation intensities of all the Beacon signals of the floor if the number of the read Beacon signals of a certain floor is less than N, finding out the floor with the maximum sum of the relative radiation intensities, and judging the floor as the floor where the current mobile terminal is located.
In the embodiment of the invention, the calculation mode of the total relative radiation intensity of each layer is as follows:
wherein the content of the first and second substances,iis the serial number of the floor,jthe serial number of the equipment belonging to the floor,N i is a flooriThe number of Beacon base stations in the Beacon base station,N i ≤N，RSSI ij the floor number received for the mobile terminal isiEquipment serial number isjThe signal strength of the Beacon base station of (1),RSSIB ij is numbered as flooriEquipment serial number isjThe Beacon base station of (1) signal strength at 1 meter.
In the embodiment of the invention, aiming at the unstable phenomenon of back-and-forth floor jump of floor positioning of continuous time windows, the mobile terminal judges the floor where the mobile terminal is positioned at intervals of a fixed time window, and when the continuous time window is used, the mobile terminal judges the floor where the mobile terminal is positionedm（m≥1) And when the floor judged by each time window is the same floor, positioning the floor as the current floor.
In the embodiment of the invention, if the continuity is not satisfiedm（m≥1) If the floor judged by each time window is the same floor, the current floor is still determined as the floormThe floor before the time window.
The embodiment of the invention also provides the mobile terminal, and the mobile terminal adopts the floor positioning method based on the Beacon signal when positioning the floor where the mobile terminal is located.
In an embodiment of the present invention, a storage medium is further provided, where the storage medium stores a computer program, and when the computer program is executed, the above floor positioning method based on the Beacon signal is executed.
Compared with the prior art, in the Beacon signal-based floor positioning method, the read RSSI values of the Beacon signals of the Beacon base stations of each floor are ranked according to a descending order, the sum of the relative radiation intensities of the Beacon signals of the N Beacon base stations which are ranked earlier in each floor (if the number of the obtained Beacon signals is less than N, all the obtained Beacon signals of the floor) is calculated, then the floor with the maximum sum of the relative radiation intensities is found out, the floor with the maximum sum of the relative radiation intensities is judged as the floor where the current mobile terminal is located, the relatively accurate floor positioning is obtained by using a special floor positioning algorithm of N-point positioning, the problem of positioning and floor jumping is solved by layer jumping processing, and the user experience is improved.
Drawings
Fig. 1 is a schematic diagram of a Beacon signal-based positioning system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a floor positioning method based on Beacon signals according to an embodiment of the present invention.
Detailed Description
Before describing the embodiments of the present invention in detail, technical terms used in the embodiments of the present invention will be described as follows.
RSSIB: signal strength (dbm) of a Beacon base station at a distance of 1 meter;
RSSI: the signal strength (dbm) of the Beacon base station received by the mobile phone;
d ij : mobile phone equipment and Beacon base stationijThe linear distance of (d);
wherein:
，iis the serial number of the floor,jthe equipment serial number of the floor is the equipment serial number of the floor;
time window: all Beacon signals are displayed by taking a time period T as an arithmetic progression, T1, t2, t3…tn(ii) a Wherein t isi-ti-1= T; at a certain time tiStarting, extending for a time period Ti, ti+1) I.e. the time window.
As shown in fig. 1, in the embodiment of the present invention, a positioning system based on Beacon signals is provided, which includes a mobile terminal 1 having a positioning function, a central server 2 connected to the mobile terminal 1 via the internet, and a plurality of Beacon base stations 3 disposed in each floor of a building. The mobile terminal 1 can be a mobile phone, and also can be intelligent equipment such as a tablet personal computer and an intelligent watch, and is provided with a GPS (global positioning system) positioner and a Bluetooth Beacon module. And installing a positioning and navigation APP in the mobile terminal, and uploading the received GPS signal and Beacon signal to the central server in real time. The central server 2 is used for receiving and storing information uploaded by various user mobile phones and providing navigation related services.
As shown in fig. 2, in the embodiment of the present invention, a floor positioning method based on Beacon signals is provided, which includes steps S1-S3. The following description will be made separately.
Step S1: and ranking the RSSI values of the Beacon signals of the Beacon base stations of each floor read by the mobile terminal according to a descending order.
When the mobile terminal performs positioning, the GPS locator first acquires positioning coordinates of the GPS from the center server, and then positions a specific position of the mobile terminal in the building according to Beacon signals of a plurality of Beacon base stations of each floor, where the Beacon signals carry position information and floor information of the Beacon base stations themselves. Since a plurality of Beacon base stations are arranged on each floor, the floor where the mobile terminal is located needs to be located first.
Be provided with bluetooth Beacon module among the mobile terminal, can receive Beacon signal of Beacon basic station, some Beacon basic stations with moveThe distance of the mobile terminal is too far, so that the mobile terminal cannot receive the Beacon signal or the received Beacon signal is weak. In positioning, to exclude the Beacon base stations with weak signals, a signal minimum threshold value can be setRSSI min (this value is typically-85) ignoring all values less thanRSSI min RSSI value signal of. And ranking the RSSI values of the Beacon signals of the Beacon base stations of each floor read by the mobile terminal according to a descending order, and positioning the floors according to the Beacon signals of the Beacon base stations with the top ranking.
Step S2: calculating the sum of the relative radiation intensity of the Beacon signals of N (N is more than or equal to 1) Beacon base stations at the top of the rank in each layer;
after ranking, the base stations with the signal intensity ranked behind are filtered out, and only the Beacon signals of the N Beacon base stations with stronger signal intensity are used. And if the number of Beacon signals of a certain layer is less than N after filtering, calculating the sum of the relative radiation intensities of all the Beacon signals of the layer. Specifically, the relative radiation intensity of each layer is calculated as follows:
wherein the content of the first and second substances,iis the serial number of the floor,jthe serial number of the equipment belonging to the floor,N i is a flooriThe number of Beacon base stations in the Beacon base station,N i ≤N，RSSI ij the floor number received for the mobile terminal isiEquipment serial number isjThe signal strength of the Beacon base station of (1),RSSIB ij is numbered as flooriEquipment serial number isjThe Beacon base station of (1) signal strength at 1 meter.
Step S3: and finding out the floor with the maximum sum of the relative radiation intensities, and judging the floor as the floor where the current mobile terminal is located.
The longer the distance between the Beacon base station and the mobile terminal is, the smaller the relative radiation intensity of the Beacon signal is, and the closer the distance between the Beacon base station and the mobile terminal is, the larger the relative radiation intensity of the Beacon signal is. Therefore, the floor with the largest sum of the relative radiation intensities can be the floor where the mobile terminal is located. After the floor where the mobile terminal is located is obtained, the coordinate position where the mobile terminal is located can be calculated according to the Beacon base station in the floor.
It should be noted that, the floor where the mobile terminal is located is determined every other fixed time window, and the floor jump is unstable when the floor location of the continuous time window is determined, and when the floor jump is continuousmA (a)m≥1) When the floors judged by the time window are the same floor, positioning the floor as the current floor; if not, continuouslym（m≥1) If the floor judged by each time window is the same floor, the current floor is still determined as the floormThe floor located before the time window.
It should be further noted that, the implementation process of the floor positioning method based on the Beacon signal may be performed in the mobile terminal or the central server, which is not limited in the present invention.
In an embodiment of the present invention, a storage medium is further provided, where the storage medium stores a computer program, and when the computer program is executed, the above floor positioning method based on the Beacon signal is executed.
In summary, in the floor positioning method based on Beacon signals, the RSSI values of the Beacon signals of the Beacon base stations of each floor are read and ranked according to a descending order, the sum of the relative radiation intensities of the Beacon signals of the N Beacon base stations ranked earlier in each floor (if the number of the Beacon signals in the floor is less than N, all the Beacon signals in the floor are taken) is calculated, then the floor with the largest sum of the relative radiation intensities is found, the floor is judged as the floor where the current mobile terminal is located, a relatively accurate floor positioning is obtained by using a specific floor positioning algorithm of N-point positioning, the problem of back and forth floor jump of the floor positioning is solved by layer jump processing, and user experience is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A floor positioning method based on Beacon signals is characterized by comprising the following steps:
ranking the RSSI values of the Beacon signals of the Beacon base stations of each floor read by the mobile terminal according to a descending order;
calculating the sum of the relative radiation intensities of the Beacon signals of N (N is more than or equal to 1) Beacon base stations at the top of the rank in each layer, and calculating the sum of the relative radiation intensities of all the Beacon signals of a certain layer if the number of the Beacon signals read by the layer is less than N;
and finding out the floor with the maximum sum of the relative radiation intensities, and judging the floor as the floor where the current mobile terminal is located.
2. A floor location method based on Beacon signals as claimed in claim 1 wherein the sum of the relative radiation intensities of each floor is calculated as follows:
wherein the content of the first and second substances,iis the serial number of the floor,jthe serial number of the equipment belonging to the floor,N i is a flooriThe number of Beacon base stations in the Beacon base station,N i ≤N，RSSI ij the floor number received for the mobile terminal isiEquipment serial number isjThe signal strength of the Beacon base station of (1),RSSIB ij is numbered as flooriEquipment serial number isjThe Beacon base station of (1) signal strength at 1 meter.
3. The Beacon-based signal of claim 1The floor positioning method is characterized in that the floor where the mobile terminal is located is judged at intervals of a fixed time window, and when the floor is continuousm（m≥1) And when the floor judged by each time window is the same floor, positioning the floor as the current floor.
4. A floor positioning method based on Beacon signals as claimed in claim 3, characterized in that if not, the continuity is not satisfiedm（m≥1) If the floor judged by each time window is the same floor, the current floor is still determined as the floormThe floor located before the time window.
5. A positioning system based on Beacon signals is characterized by comprising a mobile terminal and a plurality of Beacon base stations arranged in a building,
the plurality of Beacon base stations are distributed on each floor of the building and used for sending Beacon signals;
the mobile terminal is used for ranking the read RSSI values of the Beacon signals of the Beacon base stations of each floor according to a descending order, calculating the sum of the relative radiation intensities of the Beacon signals of N (N is larger than or equal to 1) Beacon base stations with the top ranking in each floor, calculating the sum of the relative radiation intensities of all the Beacon signals of the floor if the number of the read Beacon signals of a certain floor is less than N, finding out the floor with the maximum sum of the relative radiation intensities, and judging the floor as the floor where the current mobile terminal is located.
6. A Beacon signal-based positioning system as claimed in claim 5, wherein the sum of the relative radiation intensities of each layer is calculated as follows:
wherein the content of the first and second substances,ito floor number，jThe serial number of the equipment belonging to the floor,N i is a flooriThe number of Beacon base stations in the Beacon base station,N i ≤N，RSSI ij the floor number received for the mobile terminal isiEquipment serial number isjThe signal strength of the Beacon base station of (1),RSSIB ij is numbered as flooriEquipment serial number isjThe Beacon base station of (1) signal strength at 1 meter.
7. The Beacon signal-based positioning system according to claim 5, wherein the mobile terminal determines the floor where the mobile terminal is located every fixed time window when the mobile terminal is continuously locatedm（m≥1) And when the floor judged by each time window is the same floor, positioning the floor as the current floor.
8. The Beacon signal based positioning system of claim 7, wherein if continuity is not satisfiedm（m≥1) If the floor judged by each time window is the same floor, the current floor is still determined as the floormThe floor before the time window.
9. A mobile terminal, characterized in that when the mobile terminal locates the floor where the mobile terminal is located, the floor locating method based on Beacon signal according to any one of claims 1-4 is adopted.
10. A storage medium, characterized in that a computer program is stored which, when being executed, performs the Beacon signal based floor location method according to any one of claims 1-4.
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