CN208569055U - A kind of positioning system merging Beidou or GPS and sensor - Google Patents
A kind of positioning system merging Beidou or GPS and sensor Download PDFInfo
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- CN208569055U CN208569055U CN201821254142.0U CN201821254142U CN208569055U CN 208569055 U CN208569055 U CN 208569055U CN 201821254142 U CN201821254142 U CN 201821254142U CN 208569055 U CN208569055 U CN 208569055U
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- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000004927 fusion Effects 0.000 claims abstract description 31
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- 238000011897 real-time detection Methods 0.000 claims description 4
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Abstract
The utility model relates to wireless location technology field more particularly to the positioning systems of a kind of fusion Beidou or GPS and sensor, which includes: at least one WIFI AP, for sending WIFI signal to mobile terminal；Mobile terminal, for the real-time reception Beidou positioning signal at outdoor or GPS positioning signal and the location information for storing each moment, indoors when the location information that stores newest moment acceleration parameter as indoor initial position and from this moment；Background server, the location information for being stored according to mobile terminal and acceleration parameter from this moment, Beidou positioning signal or GPS positioning signal, WIFI signal carry out fusion calculation to motion profile.The utility model can be merged by multi-party information and be accurately positioned mobile terminal.
Description
Technical field
The utility model relates to wireless location technology field more particularly to a kind of fusion Beidous or GPS and sensor
Positioning system.
Background technique
Demand with people to positioning and navigation increasingly increases, especially in complicated indoor environment, such as airport hall, exhibition
In the environment such as the Room, warehouse, supermarket, library, underground parking, mine, it is often necessary to determine mobile terminal or its holder, set
Grant the location information of article indoors.But limited by conditions such as positioning time, positioning accuracy and complex indoor environments,
Cause that accurate indoor positioning can not be obtained always.
Beidou or GPS satellite positioning system are the most common ways of acquisition outdoor environment location information, but since satellite is believed
It number is easy to be blocked by various barriers, the satellite positioning tech such as Beidou or GPS are not particularly suited for interior, and wireless indoor is fixed at present
Position technology rapidly develops, it has also become the strong supplement of Beidou or GPS.
Existing indoor wireless locating system mainly uses the short-distance wireless skill such as infrared, ultrasonic wave, bluetooth, WIFI, RFID
Art.
WIFI provides the solution of a high performance-price ratio.Many algorithm arrangements have also been proposed in practical application,
Including measurement received signal to noise ratio (SNR), and use wider received signal strength method (RSSI).WIFI accuracy about exists
In the range of 1 meter to 15 meters, but first (ACCESS POINT, connects several WIFI AP in system coverage area to setting needs
Access point) fixed point acquires its location information and signal strength forming position database, and acquisition workload data is big, and in order to
Reach higher precision, the position measuring and calculating setting of fixed point AP is comparatively laborious.WIFI AP is WIFI access point, such as be can be
Wireless router, wireless exchange board etc..It is added if any new fixed point AP, needs to carry out its location information and signal strength
After acquisition, it could be used to position.Another WIFI transceiver all can only region within 90 meters of covering radius, and due to wall and barrier
A series of problems, such as hindering the influence of object, weak multipath, absorption and masking can be brought, and covering is had extremely in elevator & stairs etc.
Angle, to influence its precision.WIFI can only orient a range of mobile device, its motion profile can not be depicted.
WIFI positioning can only reflect mobile device with a distance from AP point, and the position of mobile terminal is at one using AP as the center of circle, distance
In the range of radius, its specific orientation not can reflect.Especially when an AP point covers multiple rooms, it not can reflect
Mobile device is on earth in which room.And WIFI is covered with dead angle, cannot accomplish all standing.
3D acceleration transducer is the motion profile that can be used at any time, and can continuously reflect mobile terminal, and no covering is dead
Therefore angle can cope with heavy construction complex environment, but for a long time in use, its positioning accuracy declines.
Therefore, it is necessary to one kind can indoors it is outer seamlessly obtain in real time the pinpoint fusion Beidou of mobile terminal or
The positioning system of GPS and sensor.
Summary of the invention
In view of the above problems, the utility model is proposed to overcome the above problem in order to provide one kind or at least partly solve
Certainly the fusion Beidou of the above problem or the positioning system of GPS and sensor.
The one aspect of the utility model provides a kind of positioning system for merging Beidou or GPS and sensor, packet
It includes:
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Beidou positioning signal or GPS positioning signal simultaneously store each moment
Location information, indoors when, location information that the newest moment is stored is as indoor initial position and from this moment
Acceleration parameter is sent to background server, and received Beidou positioning signal or GPS positioning signal and WIFI are believed
Number it is sent to background server；
Background server, the location information for being stored according to mobile terminal and acceleration from this moment
Parameter establishes motion of mobile terminals trajectory predictions model, according to Beidou positioning signal or GPS positioning signal, WIFI signal to prediction
Motion profile carry out fusion correction, to obtain the real-time positioning system of mobile terminal, be sent to mobile terminal；
WIFI AP is electrically connected to mobile terminal, and mobile terminal is electrically connected to background server.
Further, mobile terminal includes wireless communication module, which includes:
First communication unit, the WIFI signal sent for real-time reception WIFI AP；
Second communication unit, location information for that will store as indoor initial position and from this moment plus
Velocity vector parameter, Beidou positioning signal or GPS positioning signal and WIFI signal are sent to background server.
Further, the first communication unit is WIFI module.
Further, the second communication unit is WIFI module, 2G module, 3G module, 4G module, bluetooth module, NFC module
With it is any in RFID module.
Further, WIFI AP is wireless router or wireless exchange board.
Further, mobile terminal further include:
Beidou positioning module or GPS positioning module, for receiving real-time reception Beidou positioning signal or GPS positioning signal,
Obtain the location information at each moment；
3D acceleration transducer is used for real-time detection acceleration parameter；
Information storage module, location information and acceleration parameter for real-time storage each moment.
Further, Beidou positioning module or GPS positioning module and 3D acceleration transducer are electrically connected to information storage
Module.
Further, background server includes wireless communication module, which is electrically connected with the second communication unit
It connects.
Further, wireless communication module is WIFI module, 2G module, 3G module, 4G module, bluetooth module, NFC module
With it is any in RFID module.
Further, mobile terminal is any in mobile phone, notebook, tablet computer, POS machine and vehicle-mounted computer.
The positioning system of fusion Beidou or GPS and sensor provided by the utility model, has compared with prior art
It improves below:
1. in the fusion Beidou or GPS of the utility model and the positioning system of sensor, when mobile terminal is at outdoor
Positioned using Beidou, when mobile terminal indoors when utilize Beidou or the position of GPS, 3D acceleration parameter, WIFI AP
Confidence breath carries out fusion positioning, and the indoor and outdoor that can be realized mobile terminal is accurately positioned incessantly；
2. the fusion Beidou or GPS of the utility model and the positioning system of sensor are acceleration by interior structure figure
Vector parameters provide reference, so that motion of mobile terminals trajectory predictions model is more accurate；
3. in the fusion Beidou or GPS of the utility model and the positioning system of sensor, motion feature algorithm model root
It is pre- pointedly to establish motion of mobile terminals track according to the athletic posture of mobile terminal there are many motion feature algorithm model
Model is surveyed, the precision of the indoor positioning of mobile terminal is improved.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means should be implemented in accordance with the contents of the specification, and in order to allow above and other purpose of the utility model, feature and
Advantage can be more clearly understood, special below to lift specific embodiment of the present utility model.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as practical to this
Novel limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the connection block diagram that Beidou or the positioning system of GPS and sensor are merged in the utility model embodiment.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in the utility model fields.Also
It should be understood that those terms such as defined in the general dictionary, it should be understood that have and the context of the prior art
In the consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Fig. 1 is the connection block diagram that Beidou or the positioning system of GPS and sensor are merged in the utility model embodiment, such as
Shown in Fig. 1, the positioning system of fusion Beidou or GPS and sensor provided by the utility model, comprising: at least one WIFI
AP, for sending WIFI signal to mobile terminal；Mobile terminal is used for real-time reception Beidou positioning signal or GPS at outdoor
Positioning signal and the location information for storing each moment, indoors when, location information that the newest moment is stored is as indoor initial
Position and acceleration parameter from this moment are sent to background server, and by received Beidou positioning signal or
GPS positioning signal and WIFI signal are sent to background server；Background server, the position for being stored according to mobile terminal
Information and acceleration parameter from this moment establish motion of mobile terminals trajectory predictions model, are positioned according to Beidou
Signal or GPS positioning signal, WIFI signal carry out fusion correction to the motion profile of prediction, to obtain the real-time fixed of mobile terminal
Position system, is sent to mobile terminal.WIFI AP is electrically connected to mobile terminal, and mobile terminal is electrically connected to background server.It is mobile
Terminal motion profile prediction model is the appropriate parametric solution of acceleration according to the initial position of mobile terminal and the initial position
The speed and direction of the mobile terminal of precipitation predicts the position of subsequent time mobile terminal, or next several moment are mobile
The position of terminal, forming position-time diagram.
WIFI AP, mobile terminal and background server in the present embodiment, the structure and function of itself are existing skills
Art, details are not described herein again, and the utility model is intended to protect the type of attachment between above-mentioned each device.
In practical applications, when mobile terminal indoors when, believed according to Beidou positioning signal or GPS positioning signal, WIFI
Number fusion correction is carried out to the motion profile of prediction, specifically includes following three kinds of situations: first, Beidou positioning signal or GPS are fixed
When the signal stabilization of position, using the location information at each moment in the Beidou positioning signal or GPS positioning signal to the movement rail of prediction
Mark is corrected；Second, Beidou positioning signal or the timing of GPS positioning swinging of signal, the movement first with WIFI signal to prediction
Track carries out fusion correction, in the utilization Beidou positioning signal or GPS positioning signal to the further school of motion profile after correction
Just；When third, Beidou positioning signal or GPS positioning blackout, the movement rail of the position real time correction prediction of WIFI AP is utilized
Mark.
It is sharp when mobile terminal is in outdoor in the fusion Beidou or GPS of the utility model and the positioning system of sensor
Positioned with Beidou, when mobile terminal indoors when utilize Beidou or the position of GPS, 3D acceleration parameter, WIFI AP
Information carries out fusion positioning so that indoors when, automatically switched according to different situation, make optimal selection, can be realized shifting
The continual accurate positioning of indoor and outdoor of dynamic terminal.
Structure chart in background server locker room, doors structure figure include WIFI AP and interior structure figure, the interior structure
It makes figure and provides reference for acceleration parameter, so that motion of mobile terminals trajectory predictions model is more accurate.
In practical applications, acceleration parameter combination interior structure figure such as channel, elevator & stairs and door etc. is predicted
Thus the motion profile of mobile terminal out shows position and motion profile of the mobile terminal in building on map.Such as
Server obtains the athletic posture of mobile terminal according to data in human body motion feature algorithm model, for example turns right, while and room
The comparison of interior structural map, whether have door herein or turn right in the channel it is curved, if so, then showing access into door or the right side on map
It turns round, if being herein straight channel, this athletic posture is not shown on map, but sees subsequent athletic posture.
Background server stores motion feature algorithm model, location information that background server stores mobile terminal and
Acceleration parameter from this moment inputs in the motion feature algorithm model, establishes motion of mobile terminals trajectory predictions
Model.In addition, motion feature algorithm model is according to the athletic posture of mobile terminal, there are many motion feature algorithm models.This reality
With in the positioning system of novel fusion Beidou or GPS and sensor, motion feature algorithm model is according to the fortune of mobile terminal
There are many motion feature algorithm models for dynamic posture, and pointedly to establish motion of mobile terminals trajectory predictions model, raising is moved
The precision of the indoor positioning of dynamic terminal.
Referring to Fig. 1, mobile terminal includes wireless communication module, which includes: the first communication unit, is used for
The WIFI signal that real-time reception WIFI AP is sent, first communication module is usually WIFI module；Second communication unit, being used for will
Acceleration parameter of the location information of storage as indoor initial position and from this moment, Beidou positioning signal or
GPS positioning signal and WIFI signal are sent to background server, and the second communication unit can be WIFI module, 2G module, 3G
One or more of module, 4G module, bluetooth module, NFC module and RFID module.
Referring to Fig. 1, mobile terminal further include: Beidou positioning module or GPS positioning module, for receiving real-time reception Beidou
Positioning signal or GPS positioning signal, obtain the location information at each moment；3D acceleration transducer is used for real-time detection acceleration
Vector parameters；Information storage module, location information and acceleration parameter for real-time storage each moment.Mobile terminal is
Refer to the computer equipment, including mobile phone, notebook, tablet computer, POS machine and vehicle-mounted computer etc. that can be used on the move.
The model of 3D acceleration transducer can be, but not limited to XL40.
Beidou positioning module or GPS positioning module when being also used to indoors, when display positions Success Flag, connect in real time
Beidou positioning signal or GPS positioning signal and the location information for storing each moment are received, it, will most when not showing positioning Success Flag
After acceleration parameter of the location information of new moment storage as indoor initial position and from this moment is sent to
Platform server, and received WIFI signal is sent to background server, mobile terminal further include: positioning switching module is used for
Whether real-time detection Beidou positioning module or GPS positioning module show positioning Success Flag, if display positioning Success Flag, to
Background server, which is sent, to be stopped calculating signal, if not showing positioning Success Flag, starts to calculate letter to background server transmission
Number, it can not only realize the automatic switchover of positioning method, and avoid computing repeatedly for background server, reduce background server
Calculating task amount.
Background server includes wireless communication module, and module is electrically connected background server with mobile terminal by wireless communication
It connects.Wireless communication module is to appoint in WIFI module, 2G module, 3G module, 4G module, bluetooth module, NFC module and RFID module
One.
WIFI AP, Beidou positioning module, GPS positioning module, 3D acceleration transducer, information storage in the present embodiment
Module, wireless communication module, background server, the structure and function of itself are the prior arts, and details are not described herein again, this reality
It is intended to protect the type of attachment between above-mentioned each device with novel.
The working principle of the positioning system of the fusion Beidou or GPS and sensor of the utility model is as follows: utilizing at least one
A WIFI AP sends WIFI signal to mobile terminal；Using mobile terminal at outdoor, real-time reception Beidou positioning signal or
GPS positioning signal and the location information for storing each moment, indoors when, location information that the newest moment is stored as it is indoor just
Beginning position and acceleration parameter from this moment be sent to background server, and by received Beidou positioning signal
Or GPS positioning signal and WIFI signal are sent to background server；Using at least one station acquisition device in real time to backstage
Server sends orientation sensing signal；It the location information that is stored using background server according to mobile terminal and is opened from the moment
The acceleration parameter of beginning establishes motion of mobile terminals trajectory predictions model, according to Beidou positioning signal or GPS positioning signal,
WIFI signal and orientation sensing signal carry out fusion correction to the motion profile of prediction, to obtain the real-time positioning of mobile terminal
System is sent to mobile terminal.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (10)
1. the positioning system of a kind of fusion Beidou or GPS and sensor characterized by comprising
At least one WIFI AP, for sending WIFI signal to mobile terminal；
Mobile terminal, at outdoor, real-time reception Beidou positioning signal or GPS positioning signal and the position for storing each moment
Information, indoors when, the acceleration of location information that the newest moment is stored as indoor initial position and from this moment
Degree vector parameters are sent to background server, and received Beidou positioning signal or GPS positioning signal and WIFI signal are sent out
It send to background server；
Background server, the location information for being stored according to mobile terminal and acceleration parameter from this moment
Motion of mobile terminals trajectory predictions model is established, according to Beidou positioning signal or GPS positioning signal, WIFI signal to the fortune of prediction
Dynamic rail mark carries out fusion correction, to obtain the real-time positioning system of mobile terminal, is sent to mobile terminal；
WIFI AP is electrically connected to mobile terminal, and mobile terminal is electrically connected to background server.
2. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that mobile whole
End includes wireless communication module, which includes:
First communication unit, the WIFI signal sent for real-time reception WIFI AP；
Second communication unit, the acceleration of location information as indoor initial position and from this moment for that will store
Vector parameters, Beidou positioning signal or GPS positioning signal and WIFI signal are sent to background server.
3. the positioning system of fusion Beidou according to claim 2 or GPS and sensor, which is characterized in that first is logical
Letter unit is WIFI module.
4. the positioning system of fusion Beidou according to claim 2 or GPS and sensor, which is characterized in that second is logical
Letter unit is any in WIFI module, 2G module, 3G module, 4G module, bluetooth module, NFC module and RFID module.
5. the positioning system of fusion Beidou according to claim 2 or GPS and sensor, which is characterized in that WIFI AP
For wireless router or wireless exchange board.
6. the positioning system of fusion Beidou according to claim 2 or GPS and sensor, which is characterized in that mobile whole
End further include:
Beidou positioning module or GPS positioning module are obtained for receiving real-time reception Beidou positioning signal or GPS positioning signal
The location information at each moment；
3D acceleration transducer is used for real-time detection acceleration parameter；
Information storage module, location information and acceleration parameter for real-time storage each moment.
7. the positioning system of fusion Beidou according to claim 6 or GPS and sensor, which is characterized in that Beidou is fixed
Position module or GPS positioning module and 3D acceleration transducer are electrically connected to information storage module.
8. the positioning system of fusion Beidou according to claim 2 or GPS and sensor, which is characterized in that backstage takes
Business device includes wireless communication module, which is electrically connected with the second communication unit.
9. the positioning system of fusion Beidou according to claim 8 or GPS and sensor, which is characterized in that channel radio
Letter module is any in WIFI module, 2G module, 3G module, 4G module, bluetooth module, NFC module and RFID module.
10. the positioning system of fusion Beidou according to claim 1 or GPS and sensor, which is characterized in that mobile whole
End is any in mobile phone, notebook, tablet computer, POS machine and vehicle-mounted computer.
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| CN201821254142.0U CN208569055U (en) | 2018-08-03 | 2018-08-03 | A kind of positioning system merging Beidou or GPS and sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821254142.0U CN208569055U (en) | 2018-08-03 | 2018-08-03 | A kind of positioning system merging Beidou or GPS and sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN110333521A (en) * | 2019-06-26 | 2019-10-15 | 中船电子科技(三亚)有限公司 | A kind of remote control water surface lifesaving equipment device people redundancy positioning system and localization method |
| CN111145385A (en) * | 2019-12-19 | 2020-05-12 | 广州航天海特系统工程有限公司 | Method, device, equipment and storage medium for displaying vehicle running condition |
| CN113419531A (en) * | 2021-06-29 | 2021-09-21 | 东风汽车有限公司东风日产乘用车公司 | Vehicle-mounted component control method, electronic device and storage medium |
-
2018
- 2018-08-03 CN CN201821254142.0U patent/CN208569055U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN110333521A (en) * | 2019-06-26 | 2019-10-15 | 中船电子科技(三亚)有限公司 | A kind of remote control water surface lifesaving equipment device people redundancy positioning system and localization method |
| CN111145385A (en) * | 2019-12-19 | 2020-05-12 | 广州航天海特系统工程有限公司 | Method, device, equipment and storage medium for displaying vehicle running condition |
| CN113419531A (en) * | 2021-06-29 | 2021-09-21 | 东风汽车有限公司东风日产乘用车公司 | Vehicle-mounted component control method, electronic device and storage medium |
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