CN116939812B - Emergency positioning method and system based on high-density beacons - Google Patents
Emergency positioning method and system based on high-density beacons Download PDFInfo
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Classifications
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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
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
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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
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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- 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
Abstract
The invention discloses an emergency positioning method and system based on a high-density beacon, wherein the system comprises a signal receiving module, a beacon positioning module and a receiving module, wherein the signal receiving module is used for receiving notification signals, judging whether the notification signals are emergency signals or not, if yes, starting a beacon positioning mode, sending signals to a preset beacon, receiving a plurality of beacon feedback signals, selecting a plurality of target beacon feedback signals with signal strength larger than a preset threshold value and forming a good geometric relationship in space distribution according to the received plurality of beacon feedback signals, analyzing the plurality of target beacon feedback signals, acquiring the RSSI signal strength of each target beacon feedback signal, calculating the distance between a receiving device and each target beacon according to the RSSI signal strength of the plurality of target beacon feedback signals, calculating the second coordinates of the receiving device in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environment space, and displaying the user position on a screen in real time according to the second coordinates of the receiving device in the beacon three-dimensional coordinate system.
Description
Technical Field
The invention relates to the technical field of beacons, in particular to an emergency positioning method and system based on a high-density beacon.
Background
With the development of technology, mobile devices have been deeply integrated into our daily lives, and meanwhile, the demands of people for emergency processing capability are increasingly increasing, and particularly, when critical situations are met, quick and accurate positioning is particularly important.
Global Positioning Systems (GPS) are often used in current solutions, which provide global-coverage positioning services, and base station positioning services, but these two solutions have several problems: 1. along with the development of science and technology, the environment of ground buildings is more and more complex, the shielding objects and the interference signals are more and more, the receiving equipment can not receive GPS signals or receive GPS signals with low quality, and the same problem exists in the positioning of base station signals, and 2, the position of the receiving equipment can not be judged rapidly.
Therefore, how to solve the problem of high quality and rapid positioning of the receiving device in a complex environment in an emergency state is a urgent need.
Disclosure of Invention
Aiming at the problems shown above, the invention provides an emergency positioning method and an emergency positioning system based on a high-density beacon, which are used for solving the problem that a satellite is difficult to quickly position to a receiving device by using a high-quality signal under an emergency condition.
An emergency positioning system based on high density beacons, the system comprising:
the signal receiving module is used for receiving the notification signal, judging whether the notification signal is an emergency signal, if so, starting a beacon positioning mode, sending a signal to a preset beacon and receiving a plurality of beacon feedback signals;
the signal selection module is used for selecting a plurality of target beacon feedback signals with signal strength larger than or equal to a preset threshold value and forming a good geometric relationship in spatial distribution according to the received plurality of beacon feedback signals;
the positioning calculation module is used for analyzing the plurality of target beacon feedback signals, acquiring the RSSI signal intensity of each target beacon feedback signal, calculating the distance between the receiving equipment and each target beacon according to the RSSI signal intensity of the plurality of target beacon feedback signals, and calculating the second coordinate of the receiving equipment in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environment space and the first coordinates of the plurality of target beacons;
and the display module is used for displaying the user position on the screen in real time according to the second coordinate of the receiving device in the beacon three-dimensional coordinate system.
Preferably, the signal receiving module includes:
the analysis submodule is used for receiving the notification signal and analyzing the notification signal to obtain signal data;
The determining submodule is used for analyzing the signal data and determining whether the signal data contains emergency early warning information according to an analysis result;
the judging sub-module is used for judging that the notification signal is an emergency signal if the signal data contains emergency early warning information, and judging that the notification signal is a non-emergency signal if the signal data does not contain the emergency early warning information;
the promoter module is used for starting a beacon positioning mode of the receiving equipment if yes;
the signal transmission sub-module is used for transmitting a positioning request signal to a preset beacon;
and the receiving sub-module is used for receiving a beacon feedback signal sent by the preset beacon after receiving the positioning request signal.
Preferably, the signal selection module includes:
the detection submodule is used for detecting the signal intensity of each beacon feedback signal;
the first selecting submodule is used for selecting a first beacon feedback signal with the signal strength being greater than or equal to a preset threshold value;
and the second selection submodule is used for selecting target feedback signals which are uniformly distributed in a plurality of preset angle ranges taking the receiving equipment as the sphere center from the first beacon feedback signals.
Preferably, the positioning calculation module includes:
the coordinate construction submodule is used for constructing a beacon three-dimensional coordinate system by taking the geometric center of the building as an origin;
The loss factor calculation sub-module is used for acquiring the distance change values generated when the beacon feedback signal measurement equipment moves a plurality of times and the RSSI signal strength change values generated by the corresponding beacon feedback signal measurement equipment, and calculating the loss factor according to the plurality of distance change values and the RSSI signal strength change values generated by the corresponding beacon feedback signal measurement equipment;
the signal analysis sub-module is used for analyzing a plurality of target beacon feedback signals and acquiring an RSSI signal strength value of each target beacon feedback signal, an initial signal strength value of each target beacon feedback signal and a first coordinate of each target beacon in a beacon three-dimensional coordinate system;
the distance calculation sub-module is used for carrying out difference value operation on the RSSI signal strength value and the initial signal strength value of each target beacon feedback signal, calculating a quotient value of the difference value and the loss factor, and determining the distance between the receiving equipment and each target beacon according to the calculated quotient value;
the coordinate calculation sub-module is used for establishing a distance equation by using the distance between the receiving equipment and each target beacon and the first coordinate of each target beacon in the beacon three-dimensional coordinate system to obtain a plurality of distance equations, and calculating the plurality of distance equations by applying a least square method to obtain the second coordinate of the receiving equipment in the beacon three-dimensional coordinate system.
Preferably, the display module includes:
a determining submodule, configured to determine a location of the receiving device in an area of the building according to a second coordinate of the receiving device in the beacon three-dimensional coordinate system;
the area type determining submodule is used for obtaining a building design diagram, obtaining area type diagrams of different areas, and determining a target area type of the position of the receiving equipment according to the position of the area of the receiving equipment and the area type diagram;
the region type model calling sub-module is used for calling a three-dimensional map model containing a target region type;
and the rendering sub-module is used for rendering the three-dimensional map model according to the position of the receiving equipment in the area of the building.
Preferably, the loss factor calculation sub-module includes:
the distance change recording unit is used for moving the beacon feedback signal measuring equipment for a plurality of times and recording a plurality of distance change values generated when the beacon feedback signal measuring equipment moves;
an RSSI change recording unit for recording a plurality of RSSI signal strength change values generated at the same time when the beacon feedback signal measuring device is moved a plurality of times;
and the loss factor calculation unit is used for calculating quotient values of the distance change values and the RSSI signal strength change values corresponding to the distance change values to obtain a plurality of first loss factors, and carrying out average value calculation on all the first loss factors to obtain a second loss factor.
Preferably, the rendering sub-module includes:
color selection unit: for receiving a user selection of a rendering color;
and the rendering unit is used for rendering in the three-dimensional map model according to the area position of the receiving equipment in the building and the rendering color selected by the user.
Preferably, in calculating the distance of the receiving device from each target beacon, the system is further configured to:
after receiving a plurality of preset beacon feedback signals, acquiring byte data of each beacon feedback signal;
counting byte data bits of each beacon feedback signal in real time, and when the byte data bits reach a preset bit number, forming byte data into an identifier at least comprising one of a protocol data unit type, a broadcast data length and a broadcast data type;
the identifier of each beacon feedback signal is filtered according to a preset filtering rule, wherein the filtering rule is as follows:
when the identifier comprises a protocol data unit and a group of broadcast data length and broadcast data type, judging whether the data type of the beacon feedback signal and the data type of a preset receiving signal are consistent according to the protocol data unit type, if not, indicating that the beacon feedback signal is not a required beacon feedback signal;
If yes, then comparing the broadcast data length and the broadcast data type with the preset broadcast data length and the broadcast data type, judging whether the signal is the required beacon feedback signal, if yes, receiving the beacon feedback signal, and if not, shielding the beacon feedback signal;
when the identifier comprises a plurality of groups of broadcast data lengths and broadcast data types, acquiring the equipment types from the identifier, selecting a group of broadcast data lengths and broadcast data types according to the equipment types, comparing the preset broadcast data lengths and broadcast data types with the selected broadcast data lengths and broadcast data types, and if the preset broadcast data lengths and broadcast data types are met, obtaining a required first beacon feedback signal;
selecting a preset number of second beacon feedback signals from the required first beacon feedback signals;
performing RSSI signal intensity detection on all the second beacon feedback signals, and selectively performing filtering processing according to detection results to obtain third beacon feedback signals;
the third beacon feedback signal is taken as a sample that is later used to detect the beacon feedback signal.
Preferably, in calculating the actual second loss factor, the system is further configured to:
acquiring structures and materials of a plurality of sample environment buildings and corresponding first signal loss factors calculated when the beacon feedback signal measuring equipment is used for moving under the structures and materials of different environment buildings;
Constructing a first loss factor prediction model according to the structures and materials of the plurality of sample environment buildings and the corresponding first signal loss factors;
inputting the structure and materials of the surrounding environment building into a first loss factor prediction model when the beacon feedback signal measurement equipment is actually measured to obtain a first prediction loss factor;
average value processing is carried out on the first prediction loss factor and the first loss factor, and the average value is the first adjustment loss factor;
acquiring electromagnetic noise levels of a plurality of sample environments and calculating corresponding second signal loss factors when the beacon feedback signal measuring equipment is used for moving under different electromagnetic noise levels;
constructing a second loss factor prediction model according to electromagnetic noise levels of different sample environments and corresponding second signal loss factors;
inputting electromagnetic noise of the surrounding environment when the beacon feedback signal measuring equipment actually measures into a second loss factor prediction model to obtain a second prediction loss factor;
the second prediction loss factor and the first adjustment loss factor are subjected to mean value processing to obtain a second adjustment loss factor;
acquiring a plurality of sample environment temperatures and humidities and corresponding third signal loss factors calculated when the beacon feedback signal measuring equipment is used for moving under different temperatures and humidities;
Constructing a third loss factor prediction model according to the different environmental temperatures and humidity and the corresponding third signal loss factors;
inputting the environmental temperature and humidity of the beacon feedback signal measurement equipment during actual measurement into a third loss factor prediction model to obtain a third prediction loss factor;
the third prediction loss factor and the second adjustment loss factor are subjected to mean value processing to obtain a third adjustment loss factor;
the third adjustment loss factor is taken as a sample for calculating the actual second loss factor.
An emergency positioning method based on a high-density beacon, comprising:
receiving a notification signal, judging whether the notification signal is an emergency signal, if so, starting a beacon positioning mode, wanting to preset a beacon transmission signal, and receiving a plurality of beacon feedback signals;
selecting a plurality of target beacon feedback signals with signal strength larger than or equal to a preset threshold value and forming a good geometric relationship in spatial distribution according to the received plurality of beacon feedback signals;
analyzing a plurality of target beacon feedback signals, acquiring RSSI signal strength of each target beacon feedback signal, calculating the distance between the receiving equipment and each target beacon according to the RSSI signal strength of the plurality of target beacon feedback signals, and calculating second coordinates of the receiving equipment in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environment space and the first coordinates of the plurality of target beacons;
And displaying the user position on a screen in real time according to the second coordinates of the receiving device in the beacon three-dimensional coordinate system.
Through the technical scheme, the invention has the following beneficial effects:
1) By using the high-density beacon feedback signal for positioning and carrying out relatively close multi-signal information exchange, more accurate and continuous positioning data can be obtained, and the influence of excessive obstacles on signals is avoided;
2) The type of the area to which the receiving equipment belongs is displayed, the position of the receiving equipment can be quickly identified, and the searching efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of an emergency positioning system based on a high-density beacon according to the present invention;
fig. 2 is a schematic structural diagram of a signal receiving module in an emergency positioning system based on a high-density beacon according to the present invention;
FIG. 3 is a schematic diagram of a positioning calculation module in an emergency positioning system based on a high-density beacon according to the present invention;
fig. 4 is a flowchart of an emergency positioning method based on a high-density beacon.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
With the development of technology, mobile devices have been deeply integrated into our daily lives, and meanwhile, the demands of people for emergency processing capability are increasingly increasing, and particularly, when critical situations are met, quick and accurate positioning is particularly important.
Global Positioning Systems (GPS) are often used in current solutions, which provide global-coverage positioning services, and base station positioning services, but these two solutions have several problems: 1. along with the development of science and technology, the environment of ground buildings is more and more complex, the shielding objects and the interference signals are more and more, the receiving equipment can not receive GPS signals or receive GPS signals with low quality, and the same problem exists in the positioning of base station signals, and 2, the position of the receiving equipment can not be judged rapidly.
Therefore, how to solve the problem of high quality and rapid positioning of the receiving device in a complex environment in an emergency state is a urgent need.
In order to solve the above problems, the present embodiment discloses an emergency positioning method and system based on a high-density beacon.
An emergency positioning system based on high density beacons, as shown in fig. 1, comprising:
the signal receiving module 101 is configured to receive the notification signal, determine whether the notification signal is an emergency signal, if yes, start a beacon positioning mode, send a signal to a preset beacon, and receive a plurality of beacon feedback signals;
the signal selection module 102 is configured to select, according to the received multiple beacon feedback signals, multiple target beacon feedback signals with signal strengths greater than or equal to a preset threshold and distributed spatially to form a good geometric relationship;
the positioning calculation module 103 is configured to analyze the multiple target beacon feedback signals, obtain an RSSI signal strength of each target beacon feedback signal, calculate a distance between the receiving device and each target beacon according to the RSSI signal strengths of the multiple target beacon feedback signals, and calculate a second coordinate of the receiving device in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environmental space and the first coordinates of the multiple target beacons;
And the display module 104 is used for displaying the user position on the screen in real time according to the second coordinate of the receiving device in the beacon three-dimensional coordinate system.
In this embodiment, the notification signal is a signal sent by a third party, and the receiving device may determine whether it is an emergency notification signal by determining whether it contains early warning information;
in this embodiment, the preset beacon is a coordinate set by a worker in advance at a certain place;
in this embodiment, the workflow of presetting the beacon is to receive the request signal and then send the feedback signal;
in this embodiment, the preset threshold is set by the professional according to the requirements and the actual environment, and is set at-85 dBm;
in this embodiment, the good geometric relationship means that the receiving device is uniformly distributed in a plurality of preset angle ranges with the center of the sphere;
in this embodiment, the RSSI signal strength refers to the wireless signal strength when the receiving device receives a signal;
in this embodiment, constructing the coordinate system based on the environmental space refers to constructing the beacon three-dimensional coordinate system with the building geometric center as the origin.
In this embodiment, the coordinate point and the type of the region to which the coordinate point belongs are displayed simultaneously when the user position is displayed.
The working principle of the technical scheme is as follows: the method comprises the steps of receiving a notification signal through a signal receiving module 101, determining whether to start a beacon positioning mode by judging whether the received signal is an emergency signal, sending a signal to a preset beacon, receiving a plurality of beacon feedback signals, if the signal strength is greater than or equal to a preset threshold value and a plurality of target beacon feedback signals with good geometric relations are formed in space distribution from the received plurality of beacon feedback signals through a signal selecting module 102, analyzing the plurality of target feedback signals through a positioning calculating module 103, calculating the coordinates of the receiving device in a beacon three-dimensional coordinate system constructed based on an environmental space according to the obtained data, and displaying the user position on a screen in real time according to the coordinates.
The beneficial effects of the technical scheme are as follows: whether the beacon positioning mode is started or not is judged by receiving a preset beacon feedback signal of the building, if the beacon positioning mode is started, the calculation positioning is carried out according to the beacon feedback signal, and because the beacon signal is strong in strength and high in density, the problem that GPS and base station positioning is easy to be interfered is solved by providing a high-quality calculation sample.
In one embodiment, as shown in fig. 2, the signal receiving module 101 includes:
the parsing sub-module 1011 is configured to receive the notification signal and parse the notification signal to obtain signal data;
a determining submodule 1012, configured to analyze the signal data, and determine whether the signal data contains emergency early warning information according to an analysis result;
a judging sub-module 1013, configured to judge that the notification signal is an emergency signal if the signal data contains emergency early warning information, and judge that the notification signal is a non-emergency signal if the signal data does not contain emergency early warning information;
a start sub-module 1014 for, if yes, starting a receiving device beacon positioning mode;
A signaling submodule 1015 for sending a positioning request signal to a preset beacon;
the receiving sub-module 1016 is configured to receive a beacon feedback signal sent by the preset beacon after receiving the positioning request signal.
In this embodiment, the reason for analyzing the notification signal is that the notification signal includes a plurality of information, and whether the notification signal includes urgent information needs to be determined;
in this embodiment, the beacon positioning mode refers to the conversion of the receiving device from receiving satellite positioning signals to receiving beacon positioning;
in this embodiment, the reason for sending the positioning request signal is that the beacon can be activated only after receiving the request signal;
in this embodiment, the signal data includes information such as signal length, emergency warning information, and the like.
The beneficial effects of the technical scheme are as follows: by analyzing and judging the notification signal, whether to send a positioning request signal to a preset beacon or not is determined, and a beacon feedback signal sent by the positioning request signal is received, high energy consumption caused by long-time operation of a beacon positioning mode is avoided, and flexibility is improved.
In one embodiment, the signal selection module includes:
the detection submodule is used for detecting the signal intensity of each beacon feedback signal;
the first selecting submodule is used for selecting a first beacon feedback signal with the signal strength being greater than or equal to a preset threshold value;
And the second selection submodule is used for selecting target feedback signals which are uniformly distributed in a plurality of preset angle ranges taking the receiving equipment as the sphere center from the first beacon feedback signals.
In this embodiment, the preset threshold is determined according to the actual environment and the parameters of the receiving device, and is set to-85 dBm;
in this embodiment, the plurality of preset angle ranges refer to a determined range using the receiving device as a sphere center, and the 360-degree full-view range is cut into 6 parts, that is, 0 to 60 degrees, 61 to 120 degrees, and so on, until 360 degrees;
in this embodiment, the uniform distribution refers to the average distribution of the target feedback signals as much as possible within the preset angle range, that is, the target feedback signals should have a difference of not more than 10% in each angle segment.
The technical scheme has the beneficial effects that the complexity of subsequent data processing is reduced by selecting the first beacon feedback signal with the signal strength larger than the preset threshold value, the response time of the positioning system is improved, the target feedback signals uniformly distributed in a plurality of preset angles are selected, the sample quality in subsequent positioning calculation is improved, and the subsequent positioning calculation is more accurate.
In one embodiment, as shown in FIG. 3, the positioning calculation module 103 includes:
A coordinate construction submodule 1031 for constructing a beacon three-dimensional coordinate system by taking the geometric center of the building as an origin;
the loss factor calculating submodule 1032 is configured to obtain, by using the multiple-time moving beacon feedback signal measurement device, a distance change value and an RSSI signal strength change value generated by the multiple-time moving beacon feedback signal measurement device when the multiple-time moving beacon feedback signal measurement device moves, and calculate a loss factor according to the multiple-time distance change value and the RSSI signal strength change value generated by the multiple-time moving beacon feedback signal measurement device;
the signal analysis submodule 1033 is used for analyzing the multiple target beacon feedback signals and obtaining the RSSI signal strength value of each target beacon feedback signal, the initial signal strength value of each target beacon feedback signal and the first coordinate of each target beacon in the three-dimensional coordinate system of the beacon;
a distance calculating submodule 1034, configured to perform a difference operation on the RSSI signal strength value and the initial signal strength value of the feedback signal of each target beacon, calculate a quotient of the difference and the loss factor, and determine a distance between the receiving device and each target beacon according to the calculated quotient;
the coordinate calculation submodule 1035 is configured to establish a distance equation by using a distance between the receiving device and each target beacon and a first coordinate of each target beacon in the beacon three-dimensional coordinate system, obtain a plurality of distance equations, and calculate the plurality of distance equations by applying a least square method, so as to obtain a second coordinate of the receiving device in the beacon three-dimensional coordinate system.
In this embodiment, the building geometric center is the average position of the mass center points of all the constituent parts of the building;
in this embodiment, the purpose of the multiple-movement measurement device is to acquire multiple sets of data and increase samples;
in this embodiment, the initial signal strength refers to the signal strength of the beacon when the beacon transmits a signal at its position, and is in dBm;
in the present embodiment, the equation format of the distance equation is:
the (x, y, z) value to be solved according to a plurality of equations is a nonlinear least squares problem, where d refers to the distance of each beacon from the receiving device, x 1 、y 1 、z 1 The beacon coordinates are indicated, and x, y and z indicate the coordinates of the receiving equipment to be solved;
in this embodiment, the nonlinear least square problem is solved by applying the least square method, and an iterative algorithm, such as newton's method or gradient descent algorithm, is generally used to find the parameter value that minimizes the sum of squares of the errors.
The beneficial effects of the technical scheme are as follows: the beacon three-dimensional coordinate system is constructed by taking the geometric center of the building as the origin, so that the selection is convenient for representing the internal space of the building, and the coordinates of the receiving equipment are calculated through a plurality of groups of distance equations, so that the result is more accurate.
In one embodiment, a display module includes:
A determining submodule, configured to determine a location of the receiving device in an area of the building according to a second coordinate of the receiving device in the beacon three-dimensional coordinate system;
the area type determining submodule is used for obtaining a building design diagram, obtaining area type diagrams of different areas, and determining a target area type of the position of the receiving equipment according to the position of the area of the receiving equipment and the area type diagram;
the region type model calling sub-module is used for calling a three-dimensional map model containing a target region type;
and the rendering sub-module is used for rendering the three-dimensional map model according to the position of the receiving equipment in the area of the building.
In this embodiment, the regional location refers to the specific location of the receiving device in the building;
in this embodiment, the building design drawing refers to a plan view of each layer including each design element;
in this embodiment, the region type map includes a clothing region, a food region, a goods-hundred region, an electronic device region, a bathroom, an entrance and exit, and the like;
in this embodiment, the three-dimensional map model refers to a three-dimensional model built with a building frame and partitions;
in this embodiment, the type of the target area refers to the type of the area where the receiving device is currently located, and may be a clothing area, a food area, or the like.
The beneficial effects of the technical scheme are as follows: and positioning the region type of the region according to the coordinates of the receiving equipment, and rendering, so that the user can be positioned by the outside rapidly, and the efficiency in searching is improved.
In one embodiment, the loss factor calculation sub-module:
the distance change recording unit is used for moving the beacon feedback signal measuring equipment for a plurality of times and recording a plurality of distance change values generated when the beacon feedback signal measuring equipment moves;
an RSSI change recording unit for recording a plurality of RSSI signal strength change values generated at the same time when the beacon feedback signal measuring device is moved a plurality of times;
and the loss factor calculation unit is used for calculating quotient values of the distance change values and the RSSI signal strength change values corresponding to the distance change values to obtain a plurality of first loss factors, and carrying out average value calculation on all the first loss factors to obtain a second loss factor.
In the present embodiment, the number of the plurality of measurements is limited to a minimum of 20, and is measured only three times in the same area;
in this embodiment, the quotient calculation process is a division of the plurality of distance change values by the corresponding RSSI signal strength change values.
The beneficial effects of the technical scheme are as follows: the high number of calculation samples can be obtained through multiple times of measurement, so that the high number of first loss factors can be obtained, more samples can be provided for the calculation of the second actual loss factors, the accuracy is improved, and the mean value calculation can eliminate the influence of noise to obtain the second actual loss factors which are more accurate.
In one embodiment, a rendering sub-module includes:
color selection unit: for receiving a user selection of a rendering color;
and the rendering unit is used for rendering in the three-dimensional map model according to the area position of the receiving equipment in the building and the rendering color selected by the user.
In this embodiment, the colors that can be selected are all colors of high saturation;
in this embodiment, rendering refers to exposing a receiving device in a three-dimensional map model in a building region location in a color that is significantly different from the background color of the three-dimensional map model, such as red.
The beneficial effects of the technical scheme are as follows: the rendering color can be freely selected, personalized experience of a user during use is improved, colors which are obviously different from background colors of the three-dimensional map model are used for rendering, and efficiency during positioning is improved.
In one embodiment, in calculating the distance of the receiving device from each target beacon, the system is further configured to:
after receiving a plurality of preset beacon feedback signals, acquiring byte data of each beacon feedback signal;
counting byte data bits of each beacon feedback signal in real time, and when the byte data bits reach a preset bit number, forming byte data into an identifier at least comprising one of a protocol data unit type, a broadcast data length and a broadcast data type;
The identifier of each beacon feedback signal is filtered according to a preset filtering rule, wherein the filtering rule is as follows:
when the identifier comprises a protocol data unit and a group of broadcast data length and broadcast data type, judging whether the data type of the beacon feedback signal and the data type of a preset receiving signal are consistent according to the protocol data unit type, if not, indicating that the beacon feedback signal is not a required beacon feedback signal;
if yes, then comparing the broadcast data length and the broadcast data type with the preset broadcast data length and the broadcast data type, judging whether the signal is the required beacon feedback signal, if yes, receiving the beacon feedback signal, and if not, shielding the beacon feedback signal;
when the identifier comprises a plurality of groups of broadcast data lengths and broadcast data types, acquiring the equipment types from the identifier, selecting a group of broadcast data lengths and broadcast data types according to the equipment types, comparing the preset broadcast data lengths and broadcast data types with the selected broadcast data lengths and broadcast data types, and if the preset broadcast data lengths and broadcast data types are met, obtaining a required first beacon feedback signal;
selecting a preset number of second beacon feedback signals from the required first beacon feedback signals;
Performing RSSI signal intensity detection on all the second beacon feedback signals, and selectively performing filtering processing according to detection results to obtain third beacon feedback signals;
the third beacon feedback signal is taken as a sample that is later used to detect the beacon feedback signal.
In this embodiment, bytes refer to the most basic unit of information;
in this embodiment, the preset number of bits is set here to detect a number of times the number of bits of bytes is 8, 16, 32, 64, 128 bits;
in this embodiment, the protocol data unit type includes the actual data and the header information and the trailer information required for processing the information;
in the present embodiment, the broadcast data length refers to the data length contained in one message;
in the present embodiment, the broadcast data type refers to a type or format representing a message;
in this embodiment, the processing manner of the selective filtering processing includes kalman filtering, average filtering, and high-silk filtering.
The beneficial effects of the technical scheme are as follows: the method has the advantages that the byte bit number of each beacon feedback signal is counted, and then each beacon feedback signal is filtered after the byte bit number reaches the preset bit number, so that the identification accuracy of the beacon feedback signals is improved, a group of broadcast data length and broadcast data type are selected according to the equipment type, the method can be flexibly adapted to various beacons, filtering processing is selectively carried out according to the detection result, and the signals are further optimized.
In one embodiment, in calculating the actual second loss factor, the system is further configured to:
acquiring structures and materials of a plurality of sample environment buildings and corresponding first signal loss factors calculated when the beacon feedback signal measuring equipment is used for moving under the structures and materials of different environment buildings;
constructing a first loss factor prediction model according to the structures and materials of the plurality of sample environment buildings and the corresponding first signal loss factors;
inputting the structure and materials of the surrounding environment building into a first loss factor prediction model when the beacon feedback signal measurement equipment is actually measured to obtain a first prediction loss factor;
average value processing is carried out on the first prediction loss factor and the first loss factor, and the average value is the first adjustment loss factor;
acquiring electromagnetic noise levels of a plurality of sample environments and calculating corresponding second signal loss factors when the beacon feedback signal measuring equipment is used for moving under different electromagnetic noise levels;
constructing a second loss factor prediction model according to electromagnetic noise levels of different sample environments and corresponding second signal loss factors;
inputting electromagnetic noise of the surrounding environment when the beacon feedback signal measuring equipment actually measures into a second loss factor prediction model to obtain a second prediction loss factor;
The second prediction loss factor and the first adjustment loss factor are subjected to mean value processing to obtain a second adjustment loss factor;
acquiring a plurality of sample environment temperatures and humidities and corresponding third signal loss factors calculated when the beacon feedback signal measuring equipment is used for moving under different temperatures and humidities;
constructing a third loss factor prediction model according to the different environmental temperatures and humidity and the corresponding third signal loss factors;
inputting the environmental temperature and humidity of the beacon feedback signal measurement equipment during actual measurement into a third loss factor prediction model to obtain a third prediction loss factor;
the third prediction loss factor and the second adjustment loss factor are subjected to mean value processing to obtain a third adjustment loss factor;
the third adjustment loss factor is taken as a sample for calculating the actual second loss factor.
In this embodiment, multiple sample environmental building structures are referred to as being in an open or closed environment;
in this embodiment, the plurality of sample environmental building materials refer to concrete, stone, steel, wood, and the like;
in this embodiment, the electromagnetic level refers to three preset high, medium and low levels, the high level refers to an area where a large number of electronic devices exist, and the medium and low electromagnetic levels refer to an area where a medium number of electronic devices exist;
In this example, different sample ambient temperatures and humidities refer to creating different sample ambient temperatures and humidities in the test environment, the ambient temperature being set at twenty-two to forty degrees, the interval being one degree, the ambient humidity being set at 30% -60% intervals of 1%,
the beneficial effects of the technical scheme are as follows: the first loss factor prediction model is constructed according to the structures and materials of the buildings in the multiple sample environments and the corresponding first signal loss factors, the influence of the structures and materials of the different buildings on the loss factors is weakened, the second loss factor prediction model is constructed according to the electromagnetic noise levels of the different sample environments and the corresponding second signal loss factors, the influence of the different electromagnetic noise levels on the loss factors is weakened, the third loss factor prediction model is constructed according to the temperature and humidity of the different sample environments and the corresponding third signal loss factors, the influence of the different environmental humidity and the humidity on the loss factors is weakened, the average value processing is carried out for multiple times, and the accuracy of the loss factors is improved.
In this embodiment, there is also provided an emergency positioning method based on a high-density beacon, including:
s101, receiving a notification signal, judging whether the notification signal is an emergency signal, if so, starting a beacon positioning mode, wanting to preset a beacon transmission signal, and receiving a plurality of beacon feedback signals;
S102, selecting a plurality of target beacon feedback signals with signal strength larger than or equal to a preset threshold value and forming a good geometric relationship in spatial distribution according to the received plurality of beacon feedback signals;
s103, analyzing a plurality of target beacon feedback signals, acquiring RSSI signal strength of each target beacon feedback signal, calculating the distance between the receiving equipment and each target beacon according to the RSSI signal strength of the plurality of target beacon feedback signals, and calculating second coordinates of the receiving equipment in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environment space and the first coordinates of the plurality of target beacons;
and S104, displaying the user position on a screen in real time according to the second coordinates of the receiving equipment in the beacon three-dimensional coordinate system.
The working principle of the technical scheme is as follows: firstly, receiving a notification signal, judging whether the notification signal is an emergency signal, if yes, starting a beacon positioning mode, wanted to preset a beacon transmitting signal, receiving a plurality of beacon feedback signals, then selecting a plurality of target beacon feedback signals with signal intensity larger than or equal to a preset threshold value and forming a good geometric relationship in space distribution according to the received plurality of beacon feedback signals, further analyzing the plurality of target beacon feedback signals, acquiring the RSSI signal intensity of each target beacon feedback signal, calculating the distance between a receiving device and each target beacon according to the RSSI signal intensity of the plurality of target beacon feedback signals, calculating the second coordinate of the receiving device in the beacon three-dimensional coordinate system according to the analyzed beacon three-dimensional coordinate system constructed based on the environment space and the first coordinate of the plurality of target beacons, and finally displaying the user position on a screen in real time according to the second coordinate of the receiving device in the beacon three-dimensional coordinate system.
The beneficial effects of the technical scheme are as follows: whether the beacon positioning mode is started or not is judged by receiving a preset beacon feedback signal of the building, if the beacon positioning mode is started, the calculation positioning is carried out according to the beacon feedback signal, and because the beacon signal is strong in strength and high in density, the problem that GPS and base station positioning is easy to be interfered is solved by providing a high-quality calculation sample.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. An emergency positioning system based on high density beacons, comprising:
the signal receiving module is used for receiving the notification signal, judging whether the notification signal is an emergency signal, if so, starting a beacon positioning mode, sending a signal to a preset beacon and receiving a plurality of beacon feedback signals;
the signal selection module is used for selecting a plurality of target beacon feedback signals with signal strength larger than or equal to a preset threshold value and forming a good geometric relationship in spatial distribution according to the received plurality of beacon feedback signals;
the positioning calculation module is used for analyzing the plurality of target beacon feedback signals, acquiring the RSSI signal intensity of each target beacon feedback signal, calculating the distance between the receiving equipment and each target beacon according to the RSSI signal intensity of the plurality of target beacon feedback signals, and calculating the second coordinate of the receiving equipment in the beacon coordinate system according to the analyzed beacon coordinate system constructed based on the environment space and the first coordinates of the plurality of target beacons; the positioning calculation module comprises:
the coordinate construction submodule is used for constructing a beacon three-dimensional coordinate system by taking the geometric center of the building as an origin;
the loss factor calculation sub-module is used for acquiring a plurality of distance change values and corresponding RSSI signal strength change values by the mobile measurement equipment for a plurality of times, and calculating loss factors according to the distance change values and the RSSI signal strength change values;
The signal analysis sub-module is used for analyzing a plurality of target beacon feedback signals and acquiring an RSSI signal strength value of each target beacon feedback signal, an initial signal strength value of each target beacon feedback signal and a first coordinate of each target beacon in a beacon coordinate system;
the distance calculation sub-module is used for carrying out difference value operation on the RSSI signal strength value and the initial signal strength value of each target beacon feedback signal, and further calculating a quotient value according to the difference value and the loss factor, wherein the quotient value is the distance between the receiving equipment and each target beacon;
the coordinate calculation sub-module is used for establishing a set of distance equations by using the distance between the receiving equipment and each target beacon and the first coordinate of each target beacon in the beacon coordinate system, and calculating the equation set by using a least square method to obtain the second coordinate of the receiving equipment in the beacon coordinate system;
and the display module is used for displaying the user position on the screen in real time according to the second coordinates of the receiving equipment in the beacon coordinate system.
2. The high-density beacon-based emergency positioning system of claim 1, wherein the signal receiving module comprises:
the analysis submodule is used for receiving the notification signal and analyzing the notification signal to obtain signal data;
The determining submodule is used for analyzing the signal data and determining whether the signal data contains emergency early warning information according to an analysis result;
the judging sub-module is used for judging that the notification signal is an emergency signal if the signal data contains emergency early warning information, and judging that the notification signal is a non-emergency signal if the signal data does not contain the emergency early warning information;
the promoter module is used for starting a beacon positioning mode of the receiving equipment if yes;
the signal transmission sub-module is used for transmitting a positioning request signal to a preset beacon;
and the receiving sub-module is used for receiving a beacon feedback signal sent by the preset beacon after receiving the positioning request signal.
3. The high density beacon-based emergency positioning system of claim 1, wherein the signal selection module comprises:
the detection submodule is used for detecting the signal intensity of each beacon feedback signal;
the first selecting submodule is used for selecting a first beacon feedback signal with the signal strength being greater than or equal to a preset threshold value;
and the second selection submodule is used for selecting target feedback signals which are uniformly distributed in a plurality of preset angle ranges taking the receiving equipment as the sphere center from the first beacon feedback signals.
4. The high density beacon-based emergency positioning system of claim 1, wherein the display module comprises:
a determining submodule, configured to determine a location of the receiving device in an area of the building according to a second coordinate of the receiving device in the beacon coordinate system;
the area type determining submodule is used for acquiring a building design diagram, obtaining area type diagrams of different areas, and determining the type of the area according to the area where the receiving equipment is located and the area type diagram to which the receiving equipment belongs;
the region type model calling sub-module is used for calling a three-dimensional map model containing region types;
and the rendering sub-module is used for rendering the three-dimensional map model containing the region type according to the region type of the receiving equipment.
5. The high density beacon-based emergency positioning system of claim 1, wherein the loss factor calculation sub-module comprises:
the distance change recording unit is used for moving the measuring equipment and recording a distance change value;
the RSSI change recording unit is used for simultaneously recording corresponding RSSI signal strength change values when the measuring equipment is moved;
and the loss factor calculation unit is used for calculating quotient values of the distance change values and the corresponding RSSI signal strength change values to obtain a plurality of first loss factors, and carrying out average value calculation on all the first loss factors, wherein the obtained average value is the actual second loss factor.
6. The high density beacon-based emergency positioning system of claim 4, wherein the rendering sub-module comprises:
the matching unit is used for matching the position of the receiving equipment in the three-dimensional map model according to the type of the area where the receiving equipment is positioned;
and the rendering unit is used for rendering the type of the area to which the receiving equipment belongs in the three-dimensional map model according to the matching position.
7. The high-density based emergency positioning system of claim 1, wherein in calculating the distance of the receiving device from each target beacon, the system is further configured to:
after receiving a plurality of preset beacon feedback signals, sequentially obtaining each byte data in the feedback signals from the beginning of the signals, counting byte data bits in real time, and when the byte data bit number reaches the preset bit number, forming the byte data into an identifier at least comprising one of a protocol data unit type, a broadcast data length and a broadcast data type;
the identifier is filtered according to preset filtering rules, wherein the filtering rules are as follows:
when the identifier comprises a protocol data unit and a group of broadcast data length and broadcast data type, judging whether the data type of the beacon feedback signal and the data type of a preset receiving signal are consistent according to the protocol data unit type, if not, indicating that the signal is not a required beacon signal;
If yes, comparing the broadcast data length and the broadcast data type with the preset broadcast data length and the broadcast data type, judging whether the signal is a required beacon signal, if yes, receiving the beacon feedback signal, and if not, shielding the beacon feedback signal;
when the identifier comprises a plurality of groups of broadcast data lengths and broadcast data types, acquiring the device types from the characteristic identifier, selecting a group of broadcast data lengths and broadcast data types according to the device types, comparing the selected broadcast data lengths and broadcast data types with the preset broadcast data lengths and broadcast data types, and if the preset broadcast data lengths and broadcast data types are matched with the selected broadcast data types, obtaining a required first beacon signal;
selecting a preset first number of second beacon signals from the required first beacon signals;
performing RSSI signal intensity detection on all second beacon signals, if the second beacon signals are lower than a first preset RSSI signal intensity, performing filtering treatment on the second beacon signals by means of Kalman filtering, if the second beacon signals are higher than or equal to the second preset RSSI signal intensity, performing filtering treatment on the second beacon signals by means of mean filtering and Kalman filtering, and if the second beacon signals are higher than the first preset RSSI signal intensity and lower than the second preset RSSI signal intensity, performing filtering treatment on the second beacon signals by means of Gaussian filtering, wherein the first preset RSSI signal intensity is lower than the second preset RSSI signal intensity;
The filtered third beacon signal is taken as a sample for detecting the beacon signal afterwards.
8. The high density based emergency positioning system of claim 5, wherein in calculating the actual second loss factor, the system is further configured to:
acquiring the structure and materials of a sample environment building and corresponding signal loss factors;
constructing a first loss factor prediction model according to the structure and materials of the sample environment building and the corresponding loss value;
inputting the structure and materials of the surrounding environment building during measurement of the measuring equipment into a first loss factor prediction model to obtain a first predicted loss factor at the moment;
the first prediction loss factor and the first loss factor are subjected to mean value processing, and the mean value is the first adjustment loss factor;
acquiring electromagnetic noise level and corresponding signal loss factor of a sample environment;
constructing a second loss factor prediction model according to the electromagnetic noise level and the corresponding signal loss value of the sample environment;
inputting electromagnetic noise of the surrounding environment during measurement of the measuring equipment into a second loss factor prediction model to obtain a second prediction loss factor;
the second prediction loss factor and the first adjustment loss factor are subjected to mean value processing to obtain a second adjustment loss factor;
Acquiring the environmental temperature and humidity of a sample and a corresponding signal loss factor;
constructing a third loss factor prediction model according to the sample environment temperature and humidity and the corresponding signal values;
inputting the ambient temperature and humidity during measurement of the measuring equipment into a third loss factor prediction model to obtain a third predicted loss factor;
the third prediction loss factor and the second adjustment loss factor are subjected to mean value processing to obtain a third adjustment loss factor;
the third adjustment loss factor is taken as a sample for calculating the actual second loss factor.
9. An emergency positioning method based on a high-density beacon comprises the following steps:
receiving a notification signal, judging whether the notification signal is an emergency signal, if so, starting a beacon positioning mode, wanting to preset a beacon transmission signal, and receiving a plurality of beacon feedback signals;
selecting a plurality of target beacon feedback signals with signal strength larger than or equal to a preset threshold value and forming a good geometric relationship in spatial distribution according to the received plurality of beacon feedback signals;
analyzing a plurality of target beacon feedback signals, acquiring RSSI signal strength of each target beacon feedback signal, calculating the distance between the receiving equipment and each target beacon according to the RSSI signal strength of the plurality of target beacon feedback signals, and calculating second coordinates of the receiving equipment in the beacon coordinate system according to the analyzed beacon coordinate system constructed based on the environment space and the first coordinates of the plurality of target beacons; wherein,
Constructing a beacon three-dimensional coordinate system by taking the geometric center of the building as an origin;
the multi-time mobile measurement equipment acquires a plurality of distance change values and corresponding RSSI signal strength change values thereof, and calculates a loss factor according to the distance change values and the RSSI signal strength change values;
analyzing a plurality of target beacon feedback signals, and acquiring an RSSI signal strength value of each target beacon feedback signal, an initial signal strength value of each target beacon feedback signal and a first coordinate of each target beacon in a beacon coordinate system;
performing difference operation on the RSSI signal intensity value and the initial signal intensity value of each target beacon feedback signal, and further calculating a quotient value according to the difference value and the loss factor, wherein the quotient value is the distance between the receiving equipment and each target beacon;
using the distance between the receiving device and each target beacon and the first coordinate of each target beacon in the beacon coordinate system to establish a set of distance equations, and applying a least square method to calculate the equation set to obtain the second coordinate of the receiving device in the beacon coordinate system;
and displaying the user position on a screen in real time according to the second coordinates of the receiving device in the beacon coordinate system.
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