TW202018321A - Different methods of indoor positioning integrating in one field to meet different requirements of each section - Google Patents

Abstract

Different methods of indoor positioning will be integrated in one field to meet different requirements of each section. The Wireless Signal generated by target tags will be transmitted to different types of tracking devices, based on the methods used in that section, to calculate the coordinates of tags. Then, the management system will integrate the data from all tracking devices for further usage.

Description

A hybrid indoor positioning architecture and method

This application relates to an indoor positioning technology, in particular to a hybrid indoor positioning architecture and method.

At present, common indoor positioning technologies include Bluetooth positioning, wireless local area network (Wi-Fi) positioning, ultra-wideband (UWB) positioning, AoA (Angle of Arrival, AoA) Bluetooth positioning, etc. The positioning methods are different in terms of positioning principle, use technology, accuracy, field limitation, etc., and each has its own independent interface, setting correction method and serial connection method. Therefore, the currently known indoor positioning methods are all used. Single technology positioning method.

Take Beacon Bluetooth positioning as an example, its positioning principle is Received Signal Strength Indicator (RSSI), adopts open algorithm, and the cost is cheap, the hardware is easy to obtain, usually used in B2C (such as: message push broadcast, Set point tasks, etc.) application. However, the problem is that the positioning accuracy is low (3 to 5 meters), and it takes a lot of time and labor to install and adjust. Every time the layout changes in the field, it needs to be adjusted again to ensure accuracy; battery-powered , You need to replace the battery regularly; you need to turn on the mobile phone Bluetooth and develop the corresponding APP. On the field side, there are restrictions that require fewer obstacles and clean signals.

Take Wi-Fi positioning as an example, the positioning principle is RSSI, its Wi-Fi coverage is high, there are many hardware suppliers, the price range is wide, the algorithm is open source, and it is usually used for B2C (such as: indoor navigation, information push broadcast, etc.) )application. However, the problem is that the positioning accuracy is low (2 to 5 meters), and the upper frequency limit of Wi-Fi is about 2.45 GHz. However, because the 2.4 GHz frequency is widely used, Wi-Fi is vulnerable to interference, resulting in a reduction in transmission speed. Slow; power consumption is high, and adjustment requires a lot of time and manpower. Each time the layout changes in the field, it needs to be adjusted again to ensure accuracy; the mobile speed of the mobile terminal, the frequency of wireless signal scanning, different wireless network cards and Factors such as device signal differences will affect the positioning results. In terms of the field, there are also restrictions that require fewer obstacles and clean signals.

Taking UWB positioning as an example again, its positioning principle is Time Difference of Arrival (TDOA), and its positioning accuracy is relatively high (10~50 cm, depending on the ability of each software to adjust). Strong interference performance, high transmission rate, installation and adjustment can be completed at one time, no need to readjust in response to changes in the layout of the field, the transmission distance is far, the fewer the number of installations in the more open field, usually used for personnel asset positioning, etc. B2B application. However, the problem is that every space requiring positioning requires 3+1 devices, which is used heavily for positioning devices in a small space; it cannot be used in Japan because of its use of special channels, and the mobile phone does not support UWB positioning. The positioning cost is very high. In terms of field, there are restrictions on fields that are suitable for open spaces with few compartments and military communication applications.

Taking AoA Bluetooth positioning as an example, the positioning principle is the Angle of Arrival (AoA) positioning method, and its positioning accuracy is high (10~30 cm). The installation and adjustment are completed at one time, without having to respond to the furnishings in the field. Change and readjust; one receiver can be used for planar positioning, and two can be used for 3D positioning. The higher the height, the smaller the number of fields. It is suitable for B2C and B2B applications (such as indoor navigation, personnel asset management , Interactive entertainment, behavior analysis, etc.). However, the problem is that the hardware field with a low height (less than 3 meters) is used in a large amount and the hardware unit price is high. Regarding the field, there is a limitation that only the field with a higher height is applicable.

Therefore, in order to solve the problem that a single positioning method cannot meet the different positioning needs of a single field, it is necessary to provide a hybrid indoor positioning architecture and method for integrating multiple positioning technologies and continuous stable operation of positioning in a field Mode to meet the different positioning needs of a single field.

This case provides a hybrid indoor positioning method, which includes the following steps: Step 1, in which at least one positioning tag transmits a signal in a field; Step 2, in which at least two positioning devices in the field receive their corresponding signals And the corresponding signals, and each generates corresponding positioning data; step 3, wherein the positioning data is received wirelessly by a return port group of a management system; step 4, where the database is aggregated by a database of the management system Positioning data; step 5, wherein a positioning algorithm of the management system calculates and integrates the positioning data to obtain an integrated positioning result; and step 6, wherein a display device receives and presents the integrated positioning result.

According to the above conception, the positioning tag or tags are selected from the group consisting of Beacon Bluetooth positioning tags, Wi-F positioning tags, UWB positioning tags, and AoA Bluetooth positioning tags.

According to the above conception, the positioning tag or tags further include an LED module, a gyro module, and/or a charging module.

According to the above concept, the positioning devices are selected from the group consisting of Beacon Bluetooth positioning devices, Wi-Fi positioning devices, UWB positioning devices, and AoA Bluetooth positioning devices.

According to the above concept, the management system is SiPS (STARWING Intelligent Indoor Positioning System).

According to the above concept, the parameter data of the return port group has been adjusted in advance to correspond to the positioning devices.

The case also provides a hybrid indoor positioning architecture, including: at least one positioning tag, the positioning tags or the positioning tags each send a signal in a field; at least two positioning devices, the positioning devices are set in the field, respectively Wirelessly connected to the positioning tag corresponding to the positioning device for receiving the corresponding signal or signals and generating corresponding positioning data; a management system, the management system is wirelessly connected to the positioning devices, and the The management system includes a return port group, a database, and a positioning algorithm; wherein, the return port group is used to wirelessly receive the positioning data or positioning data; the database is used to aggregate the positioning data or positioning data; the The positioning algorithm is used to calculate and integrate the positioning data or data to obtain an integrated positioning result; and a display device, which is wirelessly connected to the management system and used to receive and present the integrated positioning result.

According to the above conception, the positioning tag or tags are selected from the group consisting of Beacon Bluetooth positioning tags, Wi-F positioning tags, UWB positioning tags, and AoA Bluetooth positioning tags.

According to the above conception, the positioning tag or tags further include an LED module, a gyro module, and/or a charging module.

According to the above concept, the positioning devices are selected from the group consisting of Beacon Bluetooth positioning devices, Wi-Fi positioning devices, UWB positioning devices, and AoA Bluetooth positioning devices.

According to the above concept, the management system is SiPS (STARWING Intelligent Indoor Positioning System).

According to the above concept, the parameter data of the return port group has been adjusted in advance to correspond to the positioning devices.

The present application can be implemented in various forms and ways. The contents described in the following examples and drawings illustrate the implementation of the present application. Those with ordinary knowledge in the technical field can implement this application in other ways not shown, and the scope of rights of this application should be subject to the scope of the patent application.

Please refer to FIG. 1, which is a schematic diagram of an embodiment of a hybrid indoor positioning architecture of the present application. The hybrid indoor positioning architecture 1 includes at least two positioning devices 12 and corresponding positioning labels 11, a management system 13, and a display device 14, and the management system 13 Including return port group 131, database 132 and positioning algorithm 133.

In the embodiment of FIG. 1, at least one positioning tag 11 (for example: AoA Bluetooth positioning tag 111, UWB positioning tag 112, Beacon Bluetooth positioning tag 113, or Wi-F positioning tag 114) transmits a signal in a field; at least Two types of positioning devices 12 (for example: AoA Bluetooth positioning device 121, UWB positioning device 122, Beacon Bluetooth positioning device 123, and/or Wi-F positioning device 124) are installed in the field, and are wirelessly connected to their corresponding positioning The label 11 is used to receive the signal generated by the corresponding positioning label 11 and generate corresponding positioning data; the management system 13 is wirelessly connected to the positioning device 12, and its return port group 131 is used to wirelessly receive the positioning data , Its database 132 is used to aggregate the positioning data, and its positioning algorithm 133 is used to calculate and integrate the positioning data and obtain an integrated positioning result; the display device 14 is wirelessly connected to the management system 13 for receiving And present the integrated positioning results.

Please refer to FIGS. 1 and 2. In an embodiment, the process steps of using the hybrid indoor positioning method of the present application are as follows: Step S201 is composed of at least one positioning tag 11 (for example: AoA Bluetooth positioning tag 111 and UWB positioning tag 112 , Beacon Bluetooth positioning tag 113, or Wi-F positioning tag 114) transmits signals in the field. In step S202, at least two positioning devices 12 (for example, AoA Bluetooth positioning device 121, UWB positioning device 122, Beacon Bluetooth positioning device 123, and/or Wi-F positioning device 124) in the field each receive corresponding The signal generates corresponding positioning data. In step S203, the return port group 131 of the management system 13 wirelessly receives the positioning data. In step S204, the positioning data is aggregated by the database 132 of the management system. In step S205, the positioning algorithm 133 of the management system calculates and integrates the positioning data to obtain an integrated positioning result. In step S206, the integrated positioning result is received and presented by the display device 14.

In an embodiment of the hybrid indoor positioning architecture and method of the present application, the positioning tags 11 include, but are not limited to, AoA Bluetooth positioning tags 111, UWB positioning tags 112, Beacon Bluetooth positioning tags 113, and Wi-F positioning tags 114. In some embodiments, the positioning label 11 further includes an LED module, a gyroscope module, and/or a charging module. In this application, a suitable positioning label is selected. After the positioning label is connected through the mobile phone APP, the signal source, frequency, power, and standby status sent by the positioning label are set, so that the user can easily use the hybrid positioning system.

In some embodiments of the hybrid indoor positioning architecture and method of the present application, the positioning technology of at least two positioning devices 12 is selected from precision positioning technology and/or regional positioning technology (that is, at least two positioning devices 12 The positioning technology can be a positioning device with precise positioning technology, a positioning device with regional positioning technology, or both positioning devices with precise positioning technology, or both positioning devices with regional positioning technology), The precise positioning technology includes but is not limited to AoA Bluetooth positioning and UWB positioning, and the regional positioning technology includes but not limited to Beacon Bluetooth positioning and Wi-Fi positioning.

In other embodiments of the hybrid indoor positioning architecture and method of the present application, the management system 13 includes but is not limited to SiPS (STARWING Intelligent Indoor Positioning System), and the backhaul port group 131 selected by the management system 13 includes a plurality of backhauls The port can be adjusted in advance to correspond to the positioning technology of the positioning device 12 used by the user (eg AoA Bluetooth positioning, UWB positioning, Beacon Bluetooth positioning, Wi-Fi positioning), and the return port group 131 is used for receiving positioning Positioning data such as positioning data and positioning calculation results generated by the device 12, and then transmitting the positioning data to the database 132 at the back end of the management system 13 to map the image limits and the map coordinates to the positioning tags 11 positioned by the positioning devices 12 Then, the image limits of each location are combined, connected, and calibrated by a positioning algorithm to obtain a positioning result, and then the display device 14 receives and presents the integrated positioning result. The display device 14 includes but is not limited to a mobile phone, a desktop computer, a notebook computer, a tablet computer, and the like.

This application selects a suitable positioning label and management system, so that different positioning technologies can be integrated in a single management system for calculation and presentation, and various positioning devices can achieve the effect of mutual assistance. The hybrid indoor positioning architecture and method adopted in this application can improve the problem that the single positioning technology cannot solve their respective defects, allowing users to operate and use on a single interface without adding additional burden.

The hybrid indoor positioning architecture and method of the present application can solve the problem that a single positioning method cannot meet different positioning requirements in a single field. For example, in a hospital or hotel, you want to know the precise location of the public area, but you only need to confirm whether there is a room in the private area. In a single positioning method, this demand can only be all precise positioning or all area positioning The way is satisfied; or, it needs precise positioning in a field, but there are ten meters high area and three meters high area in the field. If the AoA Bluetooth positioning is used in a single positioning method, this requirement will be Areas will use more equipment. The hybrid positioning architecture and method of the present application can provide positioning requirements that meet various field requirements. The configuration architecture and methods are different. The following describes the field requirements as examples, and the patterns in each drawing are used It is for distinguishing different technical features in the embodiments, but not for use.

Fields requiring accuracy within 50 cm and area confirmation of around 2 meters :

Please refer to the embodiment shown in FIG. 3(A), a field has both an area requiring high accuracy and an area requiring area positioning. In areas where high accuracy is required, use AoA Bluetooth positioning technology. After calculating the installation location through software, install an iron plate on the ceiling of the area to fix one or more AoA Bluetooth positioning devices 121; in areas that require area positioning , Beacon Bluetooth positioning technology is used, after the software calculates the installation location, the Beacon Bluetooth positioning device 123 is installed on the ceiling. When different positioning tags 111, 113 transmit signals in different areas, their corresponding positioning devices 121, 123 cooperate with the data return of the receiver, and the server of the management system 13 uses RSSI positioning method and AoA positioning method to calculate the data Presented on the platform interface to achieve multiple devices, composite positioning, and single presentation.

Please refer to the embodiment shown in FIG. 3(B), a field has both an area requiring high accuracy and an area requiring area positioning. In areas where high accuracy is required, use AoA Bluetooth positioning technology. After calculating the installation location through software, install an iron plate on the ceiling of the area to fix one or more AoA Bluetooth positioning devices 121; in areas that require area positioning , Wi-Fi positioning technology is used, and after the installation position is calculated by the software, the Wi-Fi positioning device 124 is installed on the ceiling. When different positioning tags 111, 114 transmit signals in different areas, the corresponding positioning devices 121, 124 cooperate with the data return of the receiver, and the server of the management system 13 calculates the data using the RSSI positioning method and the AoA positioning method. Presented on the platform interface to achieve multiple devices, composite positioning, and single presentation.

A field that requires 30 cm of accuracy and a large height drop :

Please refer to the embodiment shown in FIG. 4, in a field where precision is required but the environment is complicated, the positioning equipment to be installed is distinguished according to the height. The height is divided by three meters. The AoA Bluetooth positioning device 121 is used in the area with a height greater than three meters. Using its angle of arrival to calculate the position, combined with the advantage of higher regional height, when the AoA Bluetooth positioning tag 111 transmits a signal in the field, it can be The single AoA Bluetooth positioning device 121 can cover a large area, so that accurate and economic positioning can be achieved. The UWB positioning device 122 is used in areas with a height of less than three meters. When the UWB positioning tag 112 transmits a signal in the field, the advantage of the single UWB positioning device 122 UHF transmission distance of up to 30 meters does not affect accuracy. There is no additional positioning equipment.

Fields that require 30 cm of accuracy and have open public areas and small spaces :

Please refer to the embodiment of FIG. 5, for example, in a hospital or department store, there is a separate small room and a large space in the public area. When the height exceeds three meters, it can be completed by the AoA Bluetooth positioning device 121. If the height is lower than Three meters, you can use the UWB positioning device 122 in the public area, and use the AoA Bluetooth positioning device 121 in an independent small space, only one or two hardware can be accurately positioned, replacing the UWB positioning device 122 in any space. 3+1 limit.

In the embodiments, it can be seen that the present application combines positioning technologies and methods with different advantages, adopts suitable hybrid positioning tags, mainly uses Bluetooth positioning technology, combines various positioning technologies as supplements, and utilizes integrated technologies (for example: SiPS (STARWING Intelligent Indoor Positioning System)) The length and length of the gap can be adjusted to meet the needs of different fields or different positioning requirements by using a hybrid positioning architecture, regardless of the accuracy requirements or the changes in compartments, heights, etc. in the field.

1: hybrid indoor positioning architecture 11: positioning tag 12: positioning device 13: management system 14: display device 111: AoA Bluetooth positioning tag 112: UWB positioning tag 113: Beacon Bluetooth positioning tag 114: Wi-Fi positioning tag 121: AoA Bluetooth positioning device 122: UWB positioning device 123: Beacon Bluetooth positioning device 124: Wi-Fi positioning device 131: return port group 132: database 133: positioning algorithms S201, S202, S203, S204, S205, S206: steps

FIG. 1 is a schematic diagram of an embodiment of a hybrid indoor positioning architecture of the present application.

FIG. 2 is a flowchart of an embodiment of a hybrid indoor positioning method of the present application.

FIG. 3(A) is a schematic diagram of an embodiment of a hybrid indoor positioning in a field of this application.

FIG. 3(B) is a schematic diagram of an embodiment of the hybrid indoor positioning in the field of this application.

FIG. 4 is a schematic diagram of an embodiment of a hybrid indoor positioning in a field of this application.

FIG. 5 is a schematic diagram of an embodiment of a hybrid indoor positioning in a field of this application.

1: Hybrid indoor positioning architecture

11: Positioning label

12: Positioning equipment

13: Management system

14: display device

111: AoA Bluetooth positioning tag

112: UWB positioning label

113: Beacon Bluetooth positioning tag

114: Wi-Fi location tag

121: AoA Bluetooth positioning device

122: UWB positioning device

123: Beacon Bluetooth positioning device

124: Wi-Fi positioning device

131: Return port group

132: Database

133: Positioning algorithm

Claims (12)

A hybrid indoor positioning method includes the following steps: Step 1, in which at least one positioning tag transmits a signal in a field; Step 2, in which at least two positioning devices in the field receive their corresponding Or the signals, and each generates corresponding positioning data; Step 3, wherein the positioning data is received wirelessly by a return port group of a management system; Step 4, where the positioning is aggregated by a database of the management system Data; Step 5, wherein a positioning algorithm of the management system calculates and integrates the positioning data to obtain an integrated positioning result; and Step 6, wherein a display device receives and presents the integrated positioning result. The method according to item 1 of the patent application scope, wherein the one or more positioning tags are selected from the group consisting of Beacon Bluetooth positioning tags, Wi-F positioning tags, UWB positioning tags, and AoA Bluetooth positioning tags. The method according to item 2 of the patent application scope, wherein the positioning tag or tags further include an LED module, a gyroscope module, and/or a charging module. The method according to item 1 of the patent application scope, wherein the positioning devices are selected from the group consisting of Beacon Bluetooth positioning devices, Wi-Fi positioning devices, UWB positioning devices, and AoA Bluetooth positioning devices. The method as described in item 1 of the patent application scope, wherein the management system is SiPS (STARWING Intelligent Indoor Positioning System). The method as described in item 1 of the patent application scope, wherein the parameter data of the return port group has been previously adjusted to correspond to the positioning devices. A hybrid indoor positioning architecture includes: at least one positioning tag, the positioning tag or tags each send a signal in a field; at least two positioning devices, the positioning devices are set in the field, and are wirelessly connected to each The positioning tag corresponding to the positioning device is used to receive the corresponding signal or signals and generate corresponding positioning data; a management system, the management system is wirelessly connected to the positioning devices, and the management system includes A return port group, a database and a positioning algorithm; wherein, the return port group is used to wirelessly receive the positioning data or positioning data; the database is used to aggregate the positioning data or positioning data; the positioning algorithm It is used to calculate and integrate the positioning data or positioning data to obtain an integrated positioning result; and a display device that is wirelessly connected to the management system and used to receive and present the integrated positioning result. The architecture as described in item 7 of the patent application scope, wherein the positioning tag or tags are selected from the group consisting of Beacon Bluetooth positioning tags, Wi-F positioning tags, UWB positioning tags, and AoA Bluetooth positioning tags. The architecture as described in item 8 of the patent application scope, wherein the positioning tag or tags further include an LED module, a gyroscope module, and/or a charging module. The architecture described in item 7 of the patent application scope, wherein the positioning devices are selected from the group consisting of Beacon Bluetooth positioning devices, Wi-Fi positioning devices, UWB positioning devices, and AoA Bluetooth positioning devices. The architecture as described in item 7 of the patent application scope, wherein the management system is SiPS (STARWING Intelligent Indoor Positioning System). The architecture as described in item 7 of the patent application scope, wherein the parameter data of the return port group has been previously adjusted to correspond to the positioning devices.

Images