CN204681599U - A kind of indoor fusion navigation system based on WiFi and bluetooth - Google Patents

A kind of indoor fusion navigation system based on WiFi and bluetooth Download PDF

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Publication number
CN204681599U
CN204681599U CN201520267476.1U CN201520267476U CN204681599U CN 204681599 U CN204681599 U CN 204681599U CN 201520267476 U CN201520267476 U CN 201520267476U CN 204681599 U CN204681599 U CN 204681599U
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China
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wifi
bluetooth
module
server
location
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CN201520267476.1U
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Chinese (zh)
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关维国
鲁宝春
华海亮
李宝国
程海军
姜丕杰
任国臣
陈晓英
王景利
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辽宁工业大学
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Abstract

A kind of indoor fusion navigation system based on WiFi and bluetooth, relate to a kind of indoor locating system, this system utilizes indoor existing Wi-Fi hotspot resource, and WiFi signal has covered floor regional substantially, again according to Bluetooth signal intensity Distribution, dispose some Bluetooth beacon nodes at floor.Wi-Fi hotspot resource, WiFi router and Bluetooth beacon node together constitute beaconing nodes network.Running fix terminal gathers and arranges WiFi beaconing nodes information and Bluetooth beacon nodal information, and provide two kinds of station-keeping modes to make system can process Location Request from user rapidly, provide good Concurrency Access acknowledgement mechanism, server subsystem can inquiring user plane layer map, and mates the real-time positioning information that electronic chart obtains its terminal position.For user provide convenience, location requirement accurately.

Description

A kind of indoor fusion navigation system based on WiFi and bluetooth

Technical field

The utility model relates to a kind of indoor locating system, particularly relates to a kind of indoor locating system merging WiFi signal and Bluetooth signal.

Background technology

Location Based service (LBS) becomes one of the most potential mobile Internet business.Along with developing rapidly of Internet technology, wireless access wide band technology and mobile terminal technology, people are more and more urgent to providing the demand of the mobile computing of information service and broadband wireless communications whenever and wherever possible.The ubiquitous network terminal, people-oriented, personalized, intelligentized mobile computing, and wireless access, new ideas and the new product such as wireless interconnected easily and efficiently, is little by little dissolved in the middle of the study of people, career field and daily life.

Satellite navigation and location system relies on its high reliability and outdoor positioning precision accurately, have application widely, but extremely difficulty is applied to indoor positioning.In order to improve the positioning precision in complex indoor environment, experts and scholars propose the technical scheme of a lot of indoor positioning.Google, Microsoft, apple, Botong etc., interior scientific and technological giant, also have world-famous university research mechanism all in conjunction with new industrial research indoor positioning.

Infrared confirming orientation technology needs to install a fairly large number of reception antenna at regional, and just can accurately locate, cost is too high.In addition, the equipment of ultrasonic wave location technology and ultra wideband location techniques is all very expensive.Comparatively speaking, many architecture indoor all deploy Wi-Fi hotspot, do not need extra equipment just can locate.

Propagate and the impact of non-line-of-sight propagation by indoor multipath, A-GPS location technology, the positioning precision degradations such as ZigBee location technology.By contrast, WiFi location technology and bluetooth location technology can overcome the impact of non-line-of-sight propagation.

Radio-frequency (RF) identification location technology and ZigBee location technology all need special positioning equipment to locate, and are difficult to be integrated in existing intelligent terminal.And a lot of intelligent terminal is all integrated with WiFi and bluetooth module now, just indoor positioning can be realized by collection WiFi beaconing nodes information and Bluetooth beacon nodal information.

Based on above reason, the utility model merges a kind of indoor locating system of WiFi signal and Bluetooth signal Design and implementation, this system makes full use of indoor Wi-Fi hotspot resource and bluetooth nodes network, merge WiFi beaconing nodes information and the Bluetooth beacon nodal information of the collection of running fix terminal, the hi-Fix of complete paired terminal.

Summary of the invention

The purpose of this utility model is to provide a kind of indoor fusion navigation system based on WiFi and bluetooth, this system utilizes indoor existing Wi-Fi hotspot resource, make system can process Location Request from user rapidly, provide good Concurrency Access acknowledgement mechanism, be convenient to the Location Request that process multi-user sends simultaneously, and do not clash, be convenient to provide real-time positioning result.

The purpose of this utility model is achieved through the following technical solutions:

A kind of indoor fusion navigation system based on WiFi and bluetooth, this navigation system is made up of beaconing nodes network, running fix terminal and server subsystem three part, and wherein beaconing nodes network is made up of several Bluetooth beacon meshed networks and WiFi beaconing nodes network again; WiFi beaconing nodes network is made up of some all-around top absorbing antennas, and Bluetooth beacon meshed network is made up of some iBeacons bluetooth nodes of disposing; Running fix terminal is by module compositions such as radio-frequency module, Analog Baseband, digital baseband processor, bluetooth module, WiFi module, flush bonding processor, SD card and touch-screens; Wherein radio-frequency module, Analog Baseband, digital baseband processor form the mobile communication signal processing unit of terminal jointly, and WiFi module and bluetooth module position the interactive communication of signal detection information by serial ports and SPI interface and flush bonding processor; The composition of server subsystem comprises gateway, main control server, fusion location-server, Web server; Main control server is made up of communication module server end and fusion location parameter database; Merge location-server by merging location algorithm module and map data base forms; Web server is made up of web data library module, indoor map service module, keeper's control end module and user's access services module.

Described a kind of indoor fusion navigation system based on WiFi and bluetooth, described at storey setting Bluetooth beacon node, Wi-Fi hotspot resource, WiFi router and Bluetooth beacon node form beaconing nodes network jointly.

Described a kind of indoor fusion navigation system based on WiFi and bluetooth, described running fix terminal WiFi beaconing nodes information comprises WiFi signal strength information, WiFi beaconing nodes physical address and WiFi coordinate information, and Bluetooth beacon nodal information comprises Bluetooth signal strength information, Bluetooth beacon node physical address and bluetooth coordinate information.

Described a kind of indoor fusion navigation system based on WiFi and bluetooth, its WiFi signal intensity level RSSI described and Bluetooth signal intensity level RSSI is to WiFi node and bluetooth nodes sequence around, and WiFi beaconing nodes information, Bluetooth beacon nodal information are connected to server subsystem.

Described a kind of indoor fusion navigation system based on WiFi and bluetooth, described location comprises two kinds of station-keeping modes: one is side Network Based station-keeping mode, and another kind is based on the autonomous station-keeping mode of running fix terminal.

The utility model running fix terminal can the signal of simultaneously demodulation WiFi and Bluetooth beacon node locating signal, and the indoor fusion completed based on WiFi and Bluetooth signal intensity is located.

Fusion location-server in the utility model server subsystem can realize the mobile subscriber location of side Network Based, and pushes the information on services relevant to position.Web server in server subsystem can provide that the real-time position information of multi-user is inquired about, indoor map incremental update, periphery point of interest information on services.

Advantage of the present utility model and effect are:

The utility model can make full use of the feature that indoor existing WiFi infrastructure resources and mobile terminal possess bluetooth and WiFi module, decrease navigation system beacon deployment cost and terminal cost, existing WiFi can be made full use of and Bluetooth signal resource is located accurately.

The utility model can realize the fusion location of WiFi signal and Bluetooth signal, make full use of WiFi orientation range wide, can non line of sight transmission, bluetooth equipment volume is little, low in energy consumption, the distribution character, lane place calibration etc. of low cost and other advantages and two kinds of signals, and positioning precision further can be improved in the fusion location of two kinds of signals.

The utility model provides two kinds of station-keeping modes: one is side Network Based station-keeping mode, utilizes WiFi network communication, is calculated the position of user by server selection, can avoid using mobile network to locate the data traffic of generation.Another kind is based on the autonomous station-keeping mode of running fix terminal, the location algorithm that locating terminal carries, and directly can go out the position of user in terminal positioning.Have the choice for use of two kinds of station-keeping modes, more effectively can promote this and merge location technology, for user provide convenience, location requirement accurately.

Accompanying drawing explanation

Fig. 1 is a kind of structural representation based on WiFi and bluetooth indoor locating system of the utility model;

Fig. 2 is a kind of running fix terminal structure schematic diagram based on WiFi and bluetooth indoor locating system of the utility model;

Fig. 3 is a kind of server subsystem Organization Chart based on WiFi and bluetooth indoor locating system of the utility model;

Fig. 4 is that a kind of three layer data based on WiFi and bluetooth indoor locating system of the utility model merge location algorithm flow chart.

Embodiment

Below in conjunction with accompanying drawing, detailed implementation is carried out to the utility model.

As shown in Figure 1 and Figure 2, a kind of system realizing indoor fusion location based on WiFi signal and Bluetooth signal, mainly comprises beaconing nodes network, running fix terminal and server subsystem.This system makes full use of indoor existing Wi-Fi hotspot resource, and WiFi signal has covered floor regional substantially, and every 10 meters just have a Wi-Fi hotspot, then according to Bluetooth signal intensity Distribution, disposes a Bluetooth beacon node for every 20 meters.WiFi router is responsible for carrying out two-way communication with running fix terminal in addition.Wi-Fi hotspot resource, WiFi router and Bluetooth beacon node together constitute beaconing nodes network.Running fix terminal gathers periphery WiFi beaconing nodes information, comprise WiFi signal strength information, WiFi beaconing nodes physical address, WiFi coordinate information and Bluetooth beacon nodal information, comprise Bluetooth signal strength information, Bluetooth beacon node physical address, bluetooth coordinate information.Running fix terminal completes the sequence to around WiFi node and bluetooth nodes according to the WiFi signal intensity level RSSI collected and Bluetooth signal intensity level RSSI, then the location algorithm carried by terminal is independently located, and also the WiFi beaconing nodes information chosen, Bluetooth beacon nodal information can be sent to server end and carry out network positions.

As shown in Figure 1, the utility model is a kind of system realizing indoor fusion location based on WiFi signal and Bluetooth signal, and this navigation system is formed primarily of beaconing nodes network, running fix terminal and server subsystem three part.Wherein beaconing nodes network is made up of several Bluetooth beacon meshed networks and WiFi beaconing nodes network again.The indoor existing Wi-Fi hotspot resource of WiFi beaconing nodes network utilisation, form primarily of some all-around top absorbing antennas, Bluetooth beacon meshed network is made up of some iBeacons bluetooth nodes of disposing.Running fix terminal receives WiFi beacon signal and Bluetooth beacon signal respectively by the antenna of inner WiFi module and bluetooth module, and after signal strength detection and signal transacting are carried out to the WiFi signal received and Bluetooth signal, server subsystem is sent to respectively by two kinds of modes, a kind of mode is via 3G, 4G mobile communications network network, and another kind of mode arrives server subsystem by the route access INTERNET of WiFi network and correspondence.After server subsystem receives the Location Request of terminal via mobile communications network or INTERNET networking, the location Calculation of complete paired terminal, map match and parameter transmission, and by 3G, 4G network or WiFi network, positioning result is transmitted travelling backwards and move locating terminal.Last running fix terminal coupling indoor electronic map demonstrates user position.

As shown in Figure 2, the utility model based on the running fix terminal in the indoor fusion navigation system of WiFi signal and Bluetooth signal primarily of module compositions such as radio-frequency module, Analog Baseband, digital baseband processor, bluetooth module, WiFi module, flush bonding processor, SD card and touch-screens.Wherein radio-frequency module, Analog Baseband, digital baseband processor form the mobile communication signal processing unit of terminal jointly, according to Radio interface protocols standard, realize the function of voice communications versus data communications.Be used for receiving and sending mobile communication signal, carry out Signalling exchange with mobile network, for the autonomous station-keeping mode based on running fix terminal provides location feature parameter, and mutual restoring to normal position result.WiFi module and bluetooth module position the interactive communication of signal detection information by serial ports and SPI interface and flush bonding processor.The WiFi module of running fix terminal is used for receiving and send WiFi beaconing nodes framing signal, communicates with WiFi network, for side Network Based station-keeping mode provides location feature parameter, and mutual restoring to normal position result.Bluetooth module is used for receiving bluetooth framing signal.Terminal touch screen is the important component part realizing man-machine interaction, and processor controls display and the keyboard response of touch-screen by direct GPIO, and user can pass through touch-screen regioselective pattern, demonstrates user position finally by lcd screen.Terminal can in SD card store location parameter attribute database, flush bonding processor can be in charge of location feature data and complete and merge position matching computing realize terminal positioning.

As shown in Figure 3, main control server carries out two-way communication transmission by gateway and running fix terminal, the Location Request that receiving terminal sends and data frame information, and data frame information is stored into location parameter database and is sent to fusion location-server.Merge location-server, after merging location Calculation, positioning result is returned main control server, positioning result is sent it back running fix terminal by gateway by main control server on the one hand, is transferred to Web server on the other hand.Web server demonstrates the position of active user according to positional parameter and the positioning result calculated on the electronic chart of configuration.Subscription client can be inquired about running fix terminal place plane layer map at Web server and carry out real-time tracking to terminal in addition.

As shown in Figure 3, the composition of a kind of server subsystem based on the indoor fusion navigation system of WiFi signal and Bluetooth signal of the utility model comprises gateway, main control server, fusion location-server, Web server.Main control server, to merge location-server, data interaction between Web server and communicate be all that ICP/IP protocol based on INTERNET network conducts interviews and transmits.Gateway and mobile communication core net router and fire compartment wall, by gateway by locator data and passback result access main control server.Main control server is made up of communication module server end and fusion location parameter database.Communication module server end is responsible for the Location Request of response terminal initiation and is completed the information interaction with terminal, merges location parameter database and is accessed by ICP/IP protocol and transmit the positioning result merging location-server.Merge location-server by merging location algorithm module and map data base forms.Wherein map datum library module provides real-time cartographic information, merges the position calculation that location algorithm module completes terminal.Web server is made up of web data library module, indoor map service module, keeper's control end module and user's access services module.Wherein web data library module and indoor map service module are accessed by ICP/IP protocol and are transmitted the positioning result and map datum that merge location-server.After keeper normally logs in, complete line service by keeper's control end module, comprise user management and terminal management.After user normally logs in, carry out subscriber data maintenance by user's access services module, end message is arranged and position enquiring operation.Web server provides Multi-Client Concurrency Access acknowledgement mechanism, can process rapidly the Location Request that multi-user sends simultaneously, and not send conflict.

As shown in Figure 4, native system provides the seamless fusion location algorithm in indoor based on WiFi and bluetooth.According to wireless signal propagation model, the rssi measurement value of WiFi signal and Bluetooth signal is changed into the distance value of beaconing nodes to terminal, binding signal node and terminal coordinate information can list observational equation group, with Taylor series expansion method by the linearisation of observational equation group, utilize least square method can obtain target location estimated value, this is first time data fusion.The location estimation value of then WiFi and bluetooth being located and error estimator, merge with residual weighting algorithm, and this is second time data fusion.The result that the result of finally WiFi and bluetooth being located respectively and residual weighted merge location carries out Bayesian Fusion process, can obtain best location estimation value after merging localization process three times.

Embodiment: according to the existing Wi-Fi hotspot resource in indoor, every 10 meters just have a WiFi beaconing nodes, according to the indoor Bluetooth signal distribution character of floor, dispose an iBeacons Bluetooth beacon node, realize the seamless coverage of room area framing signal for every 20 meters.After running fix terminal installs position-location application, the WiFi opened a terminal, Bluetooth switch and positioning software, acquisition module in position-location application starts the WiFi beaconing nodes and the Bluetooth beacon nodal information that scan periphery, every 10ms gathers once, 2s collects 200 RSSI value of beaconing nodes, geometrical mean is got to these 200 RSSI value, when this mean value is greater than the RSSI threshold values of setting, then 200 of this beaconing nodes information such as RSSI value, position coordinates is preserved warehouse-in.Terminal chooses the strongest WiFi beaconing nodes of periphery four signal strength signal intensities and the strongest Bluetooth beacon node of four signal strength signal intensities.Position-location application provides two kinds of station-keeping modes, and one is side Network Based station-keeping mode, and another kind is the autonomous station-keeping mode based on running fix terminal.After user selects autonomous station-keeping mode, send autonomous Location Request, the WiFi beaconing nodes information collected and Bluetooth beacon nodal information are carried out gaussian filtering process by terminal, select more excellent RSSI value, positioning result is calculated according to fusion location algorithm, finally demonstrate the position of user at terminal coupling electronic chart, user also can navigate under strange indoor environment according to the electronic chart of configuration.Autonomous station-keeping mode can push the commodity favor information of periphery retail shop or joyful tourist attractions information at one's side for VIP user in addition.

After user selects network side station-keeping mode, send network location request to server end, server responds Location Request and the WiFi beaconing nodes information of receiving terminal collection and Bluetooth beacon nodal information, server end is after to beaconing nodes information pre-processing, carry out fusion location Calculation, final positioning result is sent it back terminal, terminal just can to demonstrate the position of user at indoor place, server end supports multi-user's position enquiring in addition, can demonstrate the position of user on electronic chart.

Server end provides the position of inquiry indoor, running fix terminal place, and can inquire about the plane map of each floor, as long as user does not close positioning software, can also demonstrate the run trace of user in the server.

Claims (1)

1. the indoor fusion navigation system based on WiFi and bluetooth, it is characterized in that, this navigation system is made up of beaconing nodes network, running fix terminal and server subsystem three part, and wherein beaconing nodes network is made up of several Bluetooth beacon meshed networks and WiFi beaconing nodes network; WiFi beaconing nodes network is made up of some all-around top absorbing antennas, and Bluetooth beacon meshed network is made up of some iBeacons bluetooth nodes of disposing; Running fix terminal is made up of radio-frequency module, Analog Baseband, digital baseband processor, bluetooth module, WiFi module, flush bonding processor, SD card and touch screen module; Wherein radio-frequency module, Analog Baseband, digital baseband processor form the mobile communication signal processing unit of terminal jointly, and WiFi module and bluetooth module position the interactive communication of signal detection information by serial ports and SPI interface and flush bonding processor; The composition of server subsystem comprises gateway, main control server, fusion location-server, Web server; Main control server is made up of communication module server end and fusion location parameter database; Merge location-server by merging location algorithm module and map data base forms; Web server is made up of web data library module, indoor map service module, keeper's control end module and user's access services module.
CN201520267476.1U 2015-04-29 2015-04-29 A kind of indoor fusion navigation system based on WiFi and bluetooth CN204681599U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106131767A (en) * 2016-06-28 2016-11-16 河南航飞光电科技有限公司 A kind of combination WiFi and the mobile phone positioning method of bluetooth
CN106211324A (en) * 2016-08-31 2016-12-07 重庆伟睿科技有限公司 Positioning service device nearby
CN106612544A (en) * 2015-10-22 2017-05-03 北京金坤科创技术有限公司 Embedded intelligent microcell design
CN106937249A (en) * 2017-02-17 2017-07-07 东莞科学馆 Wireless location intelligent management system
CN107027168A (en) * 2016-02-02 2017-08-08 高德信息技术有限公司 Localization method and device
WO2018121084A1 (en) * 2016-12-27 2018-07-05 华为技术有限公司 Positioning method, device and system
CN108370492A (en) * 2017-01-20 2018-08-03 华为技术有限公司 A kind of method and apparatus of indoor positioning
CN108616854A (en) * 2017-03-28 2018-10-02 集速智能标签(上海)有限公司 A kind of method and system of indoor positioning
US10536815B2 (en) 2017-06-08 2020-01-14 Ford Global Technologies, Llc Tracking a wireless device using a seamless handoff between a vehicle and a mobile device
CN111132013A (en) * 2019-12-30 2020-05-08 广东博智林机器人有限公司 Indoor positioning method and device, storage medium and computer equipment
CN111148214A (en) * 2019-03-14 2020-05-12 广东小天才科技有限公司 Positioning method and system of mobile equipment and related equipment

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106612544A (en) * 2015-10-22 2017-05-03 北京金坤科创技术有限公司 Embedded intelligent microcell design
CN107027168A (en) * 2016-02-02 2017-08-08 高德信息技术有限公司 Localization method and device
CN106131767A (en) * 2016-06-28 2016-11-16 河南航飞光电科技有限公司 A kind of combination WiFi and the mobile phone positioning method of bluetooth
CN106211324A (en) * 2016-08-31 2016-12-07 重庆伟睿科技有限公司 Positioning service device nearby
WO2018121084A1 (en) * 2016-12-27 2018-07-05 华为技术有限公司 Positioning method, device and system
CN108370492A (en) * 2017-01-20 2018-08-03 华为技术有限公司 A kind of method and apparatus of indoor positioning
CN106937249A (en) * 2017-02-17 2017-07-07 东莞科学馆 Wireless location intelligent management system
CN108616854A (en) * 2017-03-28 2018-10-02 集速智能标签(上海)有限公司 A kind of method and system of indoor positioning
US10536815B2 (en) 2017-06-08 2020-01-14 Ford Global Technologies, Llc Tracking a wireless device using a seamless handoff between a vehicle and a mobile device
CN111148214A (en) * 2019-03-14 2020-05-12 广东小天才科技有限公司 Positioning method and system of mobile equipment and related equipment
CN111132013A (en) * 2019-12-30 2020-05-08 广东博智林机器人有限公司 Indoor positioning method and device, storage medium and computer equipment

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