CN117615454A - Indoor positioning method, indoor positioning device and readable storage medium - Google Patents
Indoor positioning method, indoor positioning device and readable storage medium Download PDFInfo
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The embodiment of the application discloses an indoor positioning method, an indoor positioning device and a readable storage medium, wherein the method comprises the following steps: receiving radio frequency pulse signals through at least three Bluetooth receivers, wherein the radio frequency pulse signals received by each Bluetooth receiver carry corresponding phase information and time information; based on phase information and/or time information in the radio frequency pulse signals received by at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals; and determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals. The position coordinates of the object to be detected are calculated by using the radio frequency pulse signals, and the radio frequency pulse signals are not easily influenced by multipath effect, shielding, interference and other factors when being obtained, so that the accuracy of the position coordinates calculated by the object to be detected is ensured.
Description
Technical Field
The embodiment of the application relates to the technical field of indoor positioning, in particular to an indoor positioning method, an indoor positioning device and a readable storage medium.
Background
Indoor positioning refers to a technique of determining the position of a person or object in an indoor environment. The indoor positioning has wide application scenes such as navigation, tracking, security protection, intelligent home and the like. However, due to the complexity and diversity of indoor environments, conventional satellite-based positioning techniques (e.g., GPS) tend to be inoperable or less accurate indoors. Therefore, there is a need to develop a positioning technique suitable for indoor environments.
In the related art, in order to be suitable for positioning of an indoor environment, a bluetooth short-range wireless communication technology is generally adopted, so that the positioning of the indoor environment can be realized, more precisely, the positioning of the indoor environment can be realized based on a bluetooth signal strength (RSSI) technology.
However, the positioning of the indoor environment is realized by using the Bluetooth signal strength (RSSI), and the positioning is easily affected by multipath effects, shielding, interference and other factors, so that the positioning accuracy and the robustness are poor.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an indoor positioning method, an indoor positioning device and a readable storage medium, which can improve positioning accuracy and robustness.
In a first aspect, an embodiment of the present application provides an indoor positioning method, where the positioning method includes:
if the Bluetooth transmitter transmits a radio frequency pulse signal, receiving the radio frequency pulse signal through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signal received by each Bluetooth receiver carries corresponding phase information and time information;
based on the phase information and/or the time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
and determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
According to some embodiments of the invention, if the bluetooth transmitter transmits a radio frequency pulse signal, the radio frequency pulse signal is received by at least three bluetooth receivers, including:
if the Bluetooth transmitter transmits a Bluetooth broadcast data packet with a fixed frequency extension signal, receiving the Bluetooth broadcast data packet through at least three Bluetooth receivers;
and extracting a corresponding radio frequency pulse signal from the Bluetooth broadcast data packet with the fixed frequency extension signal received by each Bluetooth receiver.
According to some embodiments of the invention, before extracting the radio frequency pulse signal of each bluetooth receiver, the method further comprises:
judging whether the Bluetooth broadcast data packets received by the at least three Bluetooth receivers contain a flag bit or not;
if yes, determining that the at least three Bluetooth receivers receive the Bluetooth broadcast data packet with the fixed frequency extension signal.
According to some embodiments of the invention, before calculating the angle at which each bluetooth receiver receives the radio frequency pulse signal, the method further comprises:
performing time stamp calibration and correction on the radio frequency pulse signals received by the at least three Bluetooth receivers to obtain calibrated radio frequency pulse signals;
based on the phase information and/or the time information in the radio frequency pulse signals received by the at least three bluetooth receivers, respectively calculating the angle of each bluetooth receiver for receiving the radio frequency pulse signals, including:
and respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signal based on the phase information and/or the time information of the radio frequency pulse signal after calibration in the at least three Bluetooth receivers, wherein the angle is the arrival angle or the departure angle of the radio frequency pulse signal received by the Bluetooth receiver.
According to some embodiments of the invention, if the number N of bluetooth receivers is greater than 3, after calculating the angle at which each bluetooth receiver receives the radio frequency pulse signal, the method further includes:
the method comprises the steps of obtaining the intensity of M radio frequency pulse signals received by each Bluetooth receiver at continuous M moments;
determining a first variation range of the intensity of the M radio frequency pulse signals in each Bluetooth receiver along with time;
acquiring M angles of M radio frequency pulse signals received by each Bluetooth receiver at M continuous moments;
determining a second range of variation of the M angles over time in each Bluetooth receiver;
and screening three Bluetooth receivers meeting a first preset change range and a second preset change range from the N Bluetooth receivers according to the first change range and the second change range of each Bluetooth receiver.
According to some embodiments of the invention, before determining the first range of variation and the second range of variation for each bluetooth receiver, the method further comprises:
fusing M signal intensity data received by each Bluetooth receiver and M angles of each Bluetooth receiver to obtain M fused data corresponding to each Bluetooth receiver;
and performing extended Kalman filtering on the M fusion data to screen fusion data meeting a preset range.
According to some embodiments of the invention, when the number of bluetooth receivers is three, the determining the position coordinates of the object to be measured in the target coordinate system based on the position coordinates of the three bluetooth receivers in the target coordinate system and the angles at which the three bluetooth receivers receive the radio frequency pulse signals includes:
inputting the position coordinates of the three Bluetooth receivers in a target coordinate system and the angles of the three Bluetooth receivers receiving the radio frequency pulse signals into a preset triangulation formula to calculate and obtain the position coordinates of the object to be detected in the target coordinate system;
wherein the triangulation formula is as follows:
in a second aspect, an embodiment of the present application provides an indoor positioning device, including:
the Bluetooth transmitter is used for transmitting the radio frequency pulse signals, and the radio frequency pulse processing unit is used for receiving the radio frequency pulse signals through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signals received by each Bluetooth receiver carry corresponding phase information and time information; based on the phase information and/or time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
the positioning service unit is used for determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
In a third aspect, an embodiment of the present application provides an indoor positioning device, including a memory and a processor, where:
a memory for storing programs and/or instructions executable by the processor;
and a processor configured to execute the program and/or instructions to implement the indoor positioning method as described above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium, where a program and/or instructions are stored, where the program and/or instructions implement an indoor positioning method as described above when executed by a processor.
From the above technical solutions, the embodiments of the present application have the following advantages: compared with the position coordinates of the object to be measured in the indoor target coordinate system obtained by calculating the signal intensity, the signal intensity is influenced by multipath effect, shielding, interference and other factors when being obtained, so that the position coordinates of the object to be measured cannot be accurately determined. Based on the above problems, in the present application, the server calculates the angle of the rf pulse signal by using the rf pulse signal received by the bluetooth receiver, and determines the position coordinates of the bluetooth transmitter in the indoor target coordinate system according to the angle of the rf pulse signal, thereby determining the position of the object to be measured. Therefore, the method and the device cancel the calculation of the position coordinates of the object to be measured by using the signal intensity, instead of calculating the position coordinates of the object to be measured by using the phase information and/or the time information carried by the radio frequency pulse signal, and the radio frequency pulse signal is not easy to be influenced by multipath effect, shielding, interference and other factors when being acquired, so that the accuracy of the angle of the radio frequency pulse signal is ensured, and the accuracy of the position coordinates calculated by the object to be measured is ensured.
Drawings
The invention is further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic flow chart of an indoor positioning method in an embodiment of the application;
fig. 2 is a schematic diagram of a screening flow of a bluetooth receiver according to an embodiment of the present application;
fig. 3 is a schematic diagram of the result of the indoor positioning device in the embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The indoor positioning method provided by the embodiment of the application may be executed by a terminal device, including but not limited to: smart phones, tablet computers, notebook computers, and the like.
Or the method can be executed by a chip or a chip system, the chip or the chip system can automatically generate dance video data corresponding to the song audio data, and the chip can be embedded in the terminal equipment.
Alternatively, it may be a server execution, including but not limited to: the cloud server comprises an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content delivery network (Content Delivery Network, CDN), basic cloud computing services such as big data and artificial intelligent platforms and the like.
Or may be performed by other devices, which are not limited herein.
Referring to fig. 1, a flow chart of an indoor positioning method according to an embodiment of the present application is shown. The generation method includes S101 to S103. Wherein:
s101, if the Bluetooth transmitter transmits a radio frequency pulse signal, the radio frequency pulse signal is received through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signal received by each Bluetooth receiver carries corresponding phase information and/or time information.
Wherein in an indoor environment, three or more bluetooth receivers each having a multi-antenna array are arranged in advance, and their position coordinates in an indoor target coordinate system are known. When the Bluetooth receiver is arranged, symmetry is needed, no 2.4GHz resonance frequency shielding exists, and after the Bluetooth receiver is installed, a worker also needs to calibrate and verify, so that the accuracy of the position of the Bluetooth receiver is ensured.
In practical application, if the bluetooth transmitter transmits a radio frequency pulse signal, each indoor bluetooth receiver receives the radio frequency pulse signal and feeds back the radio frequency pulse signal to a server or an angle processing module of the bluetooth receiver, thereby acquiring phase information and/or time information carried by the radio frequency pulse signal. The Bluetooth transmitter can be self-contained in the object to be detected, such as a mobile phone, a Bluetooth watch and the like, and can also be a Bluetooth module manually added by a user for positioning the object to be detected; for example, a user adds a bluetooth module to the pet, thereby being able to locate the pet's position indoors.
S102, based on phase information and/or time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, the angle of each Bluetooth receiver for receiving the radio frequency pulse signals is calculated.
The angle may be an arrival angle or a departure angle of the radio frequency signal.
In practical application, after the bluetooth transmitter transmits the radio frequency pulse signal, at least three bluetooth receivers arranged at different indoor positions receive the radio frequency pulse signal transmitted by the bluetooth transmitter and feed back the radio frequency pulse signal to the angle processing module of the bluetooth receiver, and the radio frequency pulse signal has phase information and/or time information. The angle processing module extracts phase information and/or time information carried in each radio frequency pulse signal after receiving the radio frequency pulse signals, and calculates the radio frequency pulse signal angle of each Bluetooth receiver when receiving the radio frequency pulse signals based on the extracted phase information and/or time information. For example, calculating the length by using the time information, and calculating the angle of the radio frequency pulse signal by using the length; alternatively, the bluetooth receiver accurately marks the arrival time of the radio frequency pulse signal, and the bluetooth receiver may determine the phase of the radio frequency pulse signal (PDOA) by measuring the arrival time of the radio frequency pulse signal. Based on the phase change of the RF pulse signal, the receiver can calculate the angle of the RF pulse signal.
S103, determining the position coordinates of an object to be detected in an indoor target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
In practical application, when the angle of each radio frequency pulse signal is obtained by calculation, the calculated angle is sent to a positioning server, and the positioning server also receives the position coordinates of each Bluetooth receiver in the target coordinate system. After the positioning server receives the position coordinates of at least three Bluetooth receivers in the target coordinate system and the angles of the radio frequency pulse signals when the radio frequency pulse signals are received by the Bluetooth receivers, the position coordinates of the Bluetooth transmitters in the indoor target coordinate system are calculated through the received position coordinates and the angles of the radio frequency pulse signals. And because the Bluetooth transmitter is arranged on the object to be detected, the position coordinate of the Bluetooth transmitter in the indoor target coordinate system is the position coordinate of the object to be detected in the indoor target coordinate system.
In summary, in steps S101 to S103, compared with the method of calculating the position coordinates of the object to be measured in the indoor target coordinate system by using the signal strength, the signal strength is affected by multipath effect, shielding, interference and other factors during the acquisition, so that the position coordinates of the object to be measured cannot be accurately determined. Based on the above problems, in the present application, the server calculates the angle of the rf pulse signal by using the rf pulse signal received by the bluetooth receiver, and determines the position coordinates of the bluetooth transmitter in the indoor target coordinate system according to the angle of the rf pulse signal, thereby determining the position of the object to be measured. Therefore, the method and the device cancel the calculation of the position coordinates of the object to be measured by using the signal intensity, instead of calculating the position coordinates of the object to be measured by using the phase information and/or the time information carried by the radio frequency pulse signal, and the radio frequency pulse signal is not easy to be influenced by multipath effect, shielding, interference and other factors when being acquired, so that the accuracy of the angle of the radio frequency pulse signal is ensured, and the accuracy of the position coordinates calculated by the object to be measured is ensured.
In some embodiments, if the bluetooth transmitter transmits a radio frequency pulse signal in step S101, the radio frequency pulse signal is received by at least three bluetooth receivers, including steps a11 to a12.
A11 if the Bluetooth transmitter transmits the Bluetooth broadcast data packet with the fixed frequency extension signal, the Bluetooth broadcast data packet is received by at least three Bluetooth receivers.
Among them, a fixed frequency extension packet is a special packet that is transmitted using a constant frequency and has a specific packet format. In the transmission process of the data packet, the angle (arrival angle or departure angle) of the signal can be accurately marked on a time axis, so that the receiver can more accurately measure the angle information of the signal. More precisely, the time axis refers here to the time taken to receive a signal, the time at which the receiver is used to accurately mark the signal's arrival. Thus, the bluetooth receiver can determine the phase (PD OA) of the rf pulse signal by measuring the time of arrival of the rf pulse signal, and from the phase change of the rf pulse signal, the receiver can calculate the angle at which the rf pulse signal is emitted.
In practical applications, the bluetooth transmitter transmits a bluetooth broadcast packet, which may or may not have a fixed frequency extension signal, so that each bluetooth receiver needs to screen out at least three bluetooth receivers from more than three bluetooth receivers after receiving the bluetooth broadcast packet, where the bluetooth broadcast packet received by the three bluetooth receivers has the fixed frequency extension signal, that is, has the fixed frequency extension signal. If the Bluetooth broadcast data packet has a fixed frequency extension signal, the Bluetooth broadcast data packet has a radio frequency pulse signal, and the data in the Bluetooth broadcast data packet received by the selected Bluetooth receiver can be used for calculating to obtain the angle of the required radio frequency pulse signal; otherwise, if the bluetooth broadcast data packet does not have a fixed frequency extension signal, it is indicated that the bluetooth broadcast data packet received by the bluetooth receiver does not have a radio frequency pulse signal, which is not suitable for angle calculation.
A12 extracts corresponding radio frequency pulse signals from Bluetooth broadcast data packets with fixed frequency extension signals received by each Bluetooth receiver.
In a specific implementation, after at least three bluetooth receivers are screened, bluetooth broadcast data received by the screened bluetooth receivers includes a fixed frequency extension signal, so that a corresponding radio frequency pulse signal can be extracted from the fixed frequency extension signal received by each bluetooth receiver, so as to be applied to step S102, that is, based on phase information and/or time information in the radio frequency pulse signals received by the screened at least three bluetooth receivers, the angle of the radio frequency pulse signal when each screened bluetooth receiver receives the radio frequency pulse signal is calculated respectively.
It can be appreciated that if other signal computing angles are adopted, the content of the data packet often includes extensive information, including not only payload data (such as sensor data, commands, file transfer, etc.), but also a lot of information such as control, synchronization, error checking, etc., resulting in a larger data packet volume; meanwhile, the traditional Bluetooth data transmission mode is complex, and more transmission protocols and transmission steps are generally required to ensure the reliability and the integrity of data. These protocols and steps complicate the communication link and also increase the overhead of data transmission.
Based on the above problems, after the fixed frequency spread signal technology is introduced, the fixed frequency spread signal contains the radio frequency pulse signal and does not contain other data information, namely, other control and payload data are not involved, so that the burden of data transmission is reduced, and the data transmission amount and the processing complexity are reduced.
It was further demonstrated that in order to verify the feasibility of the protocol of the present application, a series of experimental tests were performed. We have used four bluetooth receivers with four antenna arrays as anchor points for positioning tests in a 10 m x 3 m indoor space. We use a bluetooth transmitter with a fixed frequency spread signal function as the object to be measured, randomly moves in space, and records its true position coordinates. The fixed frequency expansion signal sent by the Bluetooth transmitter is received through an anchor point and sent to a positioning server, and the positioning server calculates the position coordinate of the Bluetooth transmitter according to the position coordinate of the anchor point and the signal granularity and compares the position coordinate with the real position coordinate. We repeated 100 tests and calculated the mean and standard deviation of the positioning error.
Experimental results Table
| Transmitter transmission frequency | Average value of positioning error | Standard deviation of positioning error |
| 10Hz | 0.65m | 0.15m |
| 20Hz | 0.52m | 0.12m |
| 50Hz | 0.38m | 0.09m |
From the table, the positioning accuracy of the meter level and even the centimeter level can be realized, and the positioning accuracy is improved along with the increase of the sending frequency of the Bluetooth transmitter. The experimental results show that the method has higher positioning accuracy and robustness.
In a further specific embodiment, before extracting the radio frequency pulse signal of each bluetooth receiver, the method further comprises:
judging whether the Bluetooth broadcast data packets received by the at least three Bluetooth receivers contain a flag bit or not;
if yes, determining that the at least three Bluetooth receivers receive the Bluetooth broadcast data packet with the fixed frequency extension signal.
In practice, as stated above, the bluetooth transmitter is transmitting a bluetooth broadcast packet, which may or may not have a fixed frequency extension signal, and thus, each bluetooth receiver may or may not have a fixed frequency extension signal. Based on the above-mentioned problems, a flag bit is set in the bluetooth broadcast packet to indicate whether the bluetooth packet has a fixed frequency extension signal. Therefore, before extracting the radio frequency pulse signals of each bluetooth receiver, it is necessary to determine whether the bluetooth broadcast data packet has a flag bit, and if the bluetooth data packet has a flag bit, it is determined that the bluetooth receiver receives the received bluetooth broadcast data packet with a fixed frequency extension signal, which is suitable for angle calculation. Otherwise, if the bluetooth data packet does not have a flag bit, it is determined that the bluetooth broadcast data packet received by the bluetooth receiver does not have a fixed frequency extension signal, which is not suitable for angle calculation. In this way, it is determined from at least a plurality of bluetooth receivers that at least three bluetooth broadcast data packets received by the bluetooth receivers have a fixed frequency extension signal.
To calculate the angle of the outgoing radio frequency pulse signal more accurately, in some embodiments, the method further comprises step a21 before calculating the angle at which each bluetooth receiver receives the radio frequency pulse signal.
A21 performs time stamp calibration and correction on the radio frequency pulse signals received by the at least three Bluetooth receivers to obtain calibrated radio frequency pulse signals.
Step S102 of calculating the angle of each Bluetooth receiver for receiving the RF pulse signal based on the phase information and/or time information in the RF pulse signal received by the at least three Bluetooth receivers, respectively, comprising step A22 of
A22, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signal based on the phase information and/or the time information of the radio frequency pulse signal after calibration in the at least three Bluetooth receivers, wherein the angle is the arrival angle or the departure angle of the radio frequency pulse signal received by the Bluetooth receiver.
In practical applications, in step a21, the bluetooth broadcast data packet is received by the bluetooth receiver under the influence of the environment, and the time nodes of the bluetooth broadcast data packet may not be received according to the sequence of the bluetooth transmitter. In the scheme, the technology of adding the time stamp is added, when the Bluetooth receiver receives the Bluetooth broadcasting data packet, if the received Bluetooth broadcasting data packet is not a data packet with time increment, the data packet defaults to an invalid data packet, and more precisely, the data packet is discarded and is not used for angle calculation. In step a22, after acquiring the phase information and/or time information of the radio frequency pulse signals calibrated in each bluetooth receiver, each receiver calculates the angle of the corresponding radio frequency pulse signal based on the phase information and/or time information of the radio frequency pulse signals calibrated in the bluetooth receiver, and feeds back the angle to the positioning server. The positioning server acquires the angles of the radio frequency pulse signals when the radio frequency pulse signals are received by at least three Bluetooth receivers. It can be appreciated that the time stamping technology is added, so that the accuracy of the radio frequency pulse signal is ensured, and the accuracy of angle calculation is further ensured.
In some embodiments, when the number of bluetooth receivers is three, step 103 determines the position coordinates of the object to be measured in the target coordinate system based on the position coordinates of the three bluetooth receivers in the target coordinate system and the angles at which the three bluetooth receivers receive the radio frequency pulse signals, including:
and inputting the position coordinates of the three Bluetooth receivers in a target coordinate system and the angles of the three Bluetooth receivers receiving the radio frequency pulse signals into a preset triangulation formula to calculate and obtain the position coordinates of the object to be measured in the target coordinate system.
Wherein the triangulation formula is as follows:
wherein θ 1 ，θ 2 ，θ 3 The angles of the radio frequency pulse signals when the three Bluetooth receivers receive the radio frequency pulse signals are respectively (X) 1 ,Y 1 )(X 2 ,Y 2 )(X 3 ,Y 3 ) Three bluetooth receivers, respectively, are co-ordinated in an indoor target co-ordinate system.
In practical applications, more than three bluetooth receivers are generally installed indoors, so in step 102, since some bluetooth receivers do not receive bluetooth broadcast data packets with fixed frequency extension signals, it is possible to calculate the angles at which the three bluetooth receivers receive radio frequency pulse signals, which can just be applied to a preset triangulation formula, to calculate the position coordinates of the object to be measured in the target coordinate system. Of course, in step 102, it is also possible to calculate the angles at which the four bluetooth receivers receive the rf pulse signal, and at this time, three bluetooth receivers with the highest accuracy need to be screened out from the plurality of bluetooth receivers, and the signal angles and the position coordinates corresponding to the three bluetooth receivers are applied to the triangulation formula.
In one possible embodiment, referring to fig. 1 and 2, if the number N of bluetooth receivers is greater than 3, after calculating the angle of each bluetooth receiver for receiving the rf pulse signal, three bluetooth receivers are selected from more than three bluetooth receivers, and the position coordinates of the object to be measured in the target coordinate system are calculated according to the angles of the rf pulse signals and the position coordinates of the three bluetooth receivers in the target coordinate system when the three bluetooth receivers receive the rf pulse signal. The method further comprises steps S301 to S305.
S301, acquiring the intensity of M radio frequency pulse signals received by each Bluetooth receiver at M continuous moments;
s302, determining a first variation range of the intensity of the M radio frequency pulse signals in each Bluetooth receiver along with time;
s303, obtaining M angles of M radio frequency pulse signals received by each Bluetooth receiver at M continuous moments;
s304, determining a second variation range of the M angles with time in each Bluetooth receiver;
s305, according to the first variation range and the second variation range of each Bluetooth receiver, three Bluetooth receivers meeting the first preset variation range and the second preset variation range are screened out from the N Bluetooth receivers.
It can be understood that in the process of screening bluetooth receivers, in steps S301 to S302, the scheme of the present application screens out a plurality of bluetooth receivers with higher partial signal intensity precision by monitoring the time-dependent changes of the intensities of the M radio frequency pulse signals in each bluetooth receiver; in steps S303 to S304, the present application screens out a plurality of bluetooth receivers with higher partial angle precision by monitoring the second variation range of the M angles with time in each bluetooth receiver. In step S305, when the bluetooth receivers are screened, the signal intensity variation condition and the angle variation condition of each bluetooth receiver are considered, three bluetooth receivers with angle variation and signal intensity variation meeting the requirements are screened out, and accordingly, the angles of three radio frequency pulse signals with highest screening precision are applied to a triangulation formula, so that the object to be tested is ensured to be accurate.
In a further specific embodiment, before determining the first range of variation and the second range of variation for each bluetooth receiver, the method further comprises:
and fusing the M signal intensity data received by each Bluetooth receiver and the M angles of each Bluetooth receiver to obtain M fused data corresponding to each Bluetooth receiver.
And performing extended Kalman filtering on the M fusion data to screen fusion data meeting a preset range.
It can be understood that when determining the variation trend of the signal intensity and the angle, the present application introduces extended kalman filtering, processes the acquired signal intensity and angle, eliminates part of unreasonable data, and makes the signal intensity and angle in a linear state, so as to determine the first variation range of the intensity of the M radio frequency pulse signals in each bluetooth receiver along with time, and determine the second variation range of the M angles in each bluetooth receiver along with time.
The application also discloses indoor positioner, include:
the Bluetooth transmitter is used for transmitting the radio frequency pulse signals, and the radio frequency pulse processing unit is used for receiving the radio frequency pulse signals through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signals received by each Bluetooth receiver carry corresponding phase information and time information; based on the phase information and/or time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
a positioning service unit, which determines the position coordinates of the object to be measured in the target coordinate system based on the position coordinates of the at least three bluetooth receivers in the indoor target coordinate system and the angles of the at least three bluetooth receivers receiving the radio frequency pulse signals, wherein the bluetooth transmitters are arranged in the object to be measured
The application also discloses a monitoring system of script file, including memory and central processing unit, wherein: the memory is used for storing programs and/or instructions executable by the central processing unit; the central processor is configured to execute programs and/or instructions to implement the monitoring methods described above. The operations executed by the server in the above embodiments are implemented when the central processing unit executes the computer program, and are not described herein in detail.
Fig. 3 is a schematic structural diagram of a monitoring system for a script file according to an embodiment of the present application, where the monitoring system for a script file may include one or more central processing units (central processing units, CPU) 401 and a memory 405, where one or more application programs or data are stored in the memory 405.
Wherein the memory 405 may be volatile storage or persistent storage. The program stored in memory 405 may include one or more modules, each of which may include a series of instruction operations in a monitoring system for script files. Still further, the central processor 401 may be configured to communicate with the memory 405 and execute a series of instruction operations in the memory 405 on the monitoring system 400 of the script file.
The script file monitoring system 400 may also include one or more power supplies 402, one or more wired or wireless network interfaces 403, one or more input/output interfaces 404, and/or one or more operating systems, such as Windows ServerTM, mac OS XTM, unixTM, linuxTM, freeBSDTM, etc.
The cpu 401 may perform the operations performed by the monitoring system of the script file in the embodiments shown in fig. 1-3, and detailed descriptions thereof are omitted herein.
The application also discloses a computer readable storage medium, wherein the computer readable storage medium stores a program and/or instructions, and the program and/or instructions implement the monitoring method when executed by the central processing unit. The computer program when executed by the central processor performs the steps of:
if the Bluetooth transmitter transmits a radio frequency pulse signal, receiving the radio frequency pulse signal through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signal received by each Bluetooth receiver carries corresponding phase information and time information;
based on the phase information and/or the time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
and determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the positioning method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM, random access memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Claims (10)
1. An indoor positioning method, characterized in that the positioning method comprises:
if the Bluetooth transmitter transmits a radio frequency pulse signal, receiving the radio frequency pulse signal through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signal received by each Bluetooth receiver carries corresponding phase information and time information;
based on the phase information and/or the time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
and determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
2. The indoor positioning method according to claim 1, wherein if the bluetooth transmitter transmits a radio frequency pulse signal, the radio frequency pulse signal is received by at least three bluetooth receivers, comprising:
if the Bluetooth transmitter transmits a Bluetooth broadcast data packet with a fixed frequency extension signal, receiving the Bluetooth broadcast data packet through at least three Bluetooth receivers;
and extracting a corresponding radio frequency pulse signal from the Bluetooth broadcast data packet with the fixed frequency extension signal received by each Bluetooth receiver.
3. An indoor positioning method according to claim 2, wherein before extracting the rf pulse signal of each bluetooth receiver, the method further comprises:
judging whether the Bluetooth broadcast data packets received by the at least three Bluetooth receivers contain a flag bit or not;
if yes, determining that the at least three Bluetooth receivers receive the Bluetooth broadcast data packet with the fixed frequency extension signal.
4. An indoor positioning method according to claim 1, wherein prior to calculating the angle at which each bluetooth receiver receives the radio frequency pulse signal, the method further comprises:
performing time stamp calibration and correction on the radio frequency pulse signals received by the at least three Bluetooth receivers to obtain calibrated radio frequency pulse signals;
based on the phase information and/or the time information in the radio frequency pulse signals received by the at least three bluetooth receivers, respectively calculating the angle of each bluetooth receiver for receiving the radio frequency pulse signals, including:
and respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signal based on the phase information and/or the time information of the radio frequency pulse signal after calibration in the at least three Bluetooth receivers, wherein the angle is the arrival angle or the departure angle of the radio frequency pulse signal received by the Bluetooth receiver.
5. The indoor positioning method according to claim 2, wherein if the number N of bluetooth receivers is greater than 3, after calculating the angle at which each bluetooth receiver receives the radio frequency pulse signal, the method further comprises:
the method comprises the steps of obtaining the intensity of M radio frequency pulse signals received by each Bluetooth receiver at continuous M moments;
determining a first variation range of the intensity of the M radio frequency pulse signals in each Bluetooth receiver along with time;
acquiring M angles of M radio frequency pulse signals received by each Bluetooth receiver at M continuous moments;
determining a second range of variation of the M angles over time in each Bluetooth receiver;
and screening three Bluetooth receivers meeting a first preset change range and a second preset change range from the N Bluetooth receivers according to the first change range and the second change range of each Bluetooth receiver.
6. The indoor positioning method of claim 5, wherein prior to determining the first range of variation and the second range of variation for each bluetooth receiver, the method further comprises:
fusing M signal intensity data received by each Bluetooth receiver and M angles of each Bluetooth receiver to obtain M fused data corresponding to each Bluetooth receiver;
and performing extended Kalman filtering on the M fusion data to screen fusion data meeting a preset range.
7. The indoor positioning method according to any one of claims 1 to 6, wherein when the number of bluetooth receivers is three, the determining the position coordinates of the object to be measured in the target coordinate system based on the position coordinates of the three bluetooth receivers in the target coordinate system and the angles at which the three bluetooth receivers receive the radio frequency pulse signals includes:
inputting the position coordinates of the three Bluetooth receivers in a target coordinate system and the angles of the three Bluetooth receivers receiving the radio frequency pulse signals into a preset triangulation formula to calculate and obtain the position coordinates of the object to be detected in the target coordinate system;
wherein the triangulation formula is as follows:
A＝ΣA i />
8. an indoor positioning device as set forth in claim 1, including:
the Bluetooth transmitter is used for transmitting the radio frequency pulse signals, and the radio frequency pulse processing unit is used for receiving the radio frequency pulse signals through at least three Bluetooth receivers, wherein each Bluetooth receiver is arranged at different indoor positions, and the radio frequency pulse signals received by each Bluetooth receiver carry corresponding phase information and time information; based on the phase information and/or time information in the radio frequency pulse signals received by the at least three Bluetooth receivers, respectively calculating the angle of each Bluetooth receiver for receiving the radio frequency pulse signals;
the positioning service unit is used for determining the position coordinates of the object to be detected in the target coordinate system based on the position coordinates of the at least three Bluetooth receivers in the indoor target coordinate system and the angles of the at least three Bluetooth receivers receiving the radio frequency pulse signals, wherein the Bluetooth transmitter is arranged in the object to be detected.
9. An indoor positioning device, comprising a memory and a processor, wherein:
a memory for storing programs and/or instructions executable by the processor;
a processor configured to execute the program and/or instructions to implement the indoor positioning method as claimed in any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a program and/or instructions which, when executed by a processor, implement the indoor positioning method according to any one of claims 1 to 7.
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| CN202311592304.7A CN117615454A (en) | 2023-11-27 | 2023-11-27 | Indoor positioning method, indoor positioning device and readable storage medium |
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| CN202311592304.7A CN117615454A (en) | 2023-11-27 | 2023-11-27 | Indoor positioning method, indoor positioning device and readable storage medium |
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