TWI633797B - Indoor positioning system and positioning method thereof - Google Patents

Abstract

The present invention relates to an indoor positioning system and a positioning method thereof, mainly when a user wants to start positioning, and enters a field through a portable first electronic device, and performs WiFi signal and Bluetooth signal within the range of the site. Detecting or broadcasting WiFi signals and Bluetooth signals. The site is equipped with a second electronic device for detecting or broadcasting WiFi signals, and a third device for detecting or broadcasting Bluetooth (BT) signals. The electronic device, the first electronic device, the plurality of second electronic devices or the plurality of third electronic devices obtain an anchor coordinate information according to the similarity between the measured data and the training data, thereby accurately determining the user at the site The instant location within the location to achieve the purpose of improving indoor positioning accuracy; in addition, the site equipment settings can be completed before collecting training materials.

Description

Indoor positioning system and positioning method thereof

The invention relates to a positioning system and a method, in particular to an indoor positioning system and a positioning method thereof.

With the rapid development of technology, today's indoor positioning system (Indoor Position System) has been widely used in venues, engineering, tracking, venues, personal positioning, etc., and replaces GPS functions through wireless positioning for indoor environments. Common wireless networking technologies include WiFi and Bluetooth (BT) technology.

Generally, in the positioning method using WiFi technology, Triangulation and RF Fingerprinting are common, and the transmission distance of the WiFi signal is relatively long, and the coverage of the site is wide, but the WiFi positioning is The error is large.

In addition, in the positioning method using the Bluetooth technology, the positioning can also be performed through the triangle positioning and the wireless signal feature positioning (RF Fingerprinting). Although the Bluetooth positioning error is relatively small compared to the WiFi, the coverage of the venue is usually smaller than that of the WiFi. The number of settings must be large, which increases the cost.

As far as the prior art is concerned, the positioning accuracy required for each site environment is not the same. For example, some venues have no effect on large walkways and squares with errors of 3 to 5 meters, but other sites are for equipment. The operator of the machine needs to improve the accuracy to less than one meter. However, the positioning technology applied by the current indoor positioning system still faces a large error in using WiFi positioning, and the number of settings using the blue-and-white positioning must be large. Such problems, so the existing positioning technology for the need to improve the accuracy of the problem, it is necessary to propose a better solution.

In view of the above-mentioned deficiencies of the prior art, the main object of the present invention is to provide an indoor positioning system and a positioning method thereof, which are provided by a plurality of devices for broadcasting WiFi and Bluetooth (BT) signals in a range of a field. Instantly detect mixed WiFi and Bluetooth signals through the user's electronic device, and then determine the accurate location of the user based on the mixed WiFi and Bluetooth signals to improve indoor positioning accuracy.

The technical means for achieving the above object is to locate the positioning method of the indoor positioning system by a first electronic device in a field, and the first electronic device performs the following steps: detecting the specified in the site WiFi signal and Bluetooth signal; generate more than one set of measurement data according to the received WiFi signal and Bluetooth signal strength; compare the similarity of the measurement data with the plurality of training materials or transmit the measurement data to A remote comparison; based on the comparison of the measured data with the similarity of all training data, the coordinate information of a training point that obtains the most similar training data is used as the current anchor point coordinates, or a number of trainings with higher similarity are obtained. Point, according to the training point coordinates information position weighted combination to get the current anchor point coordinates.

Another technical means for achieving the above object is that the indoor positioning system includes: a portable first electronic device having a WiFi communication protocol and a Bluetooth communication protocol; and a plurality of second electronic devices are provided. The second electronic device transmits a WiFi signal through the WiFi protocol, and a plurality of third electronic devices are disposed in the field, and the third electronic devices respectively transmit the blue The bud communication protocol sends a Bluetooth signal; when the user enters the venue with the first electronic device, and detects the WiFi signal sent by the second electronic device and the Bluetooth signal sent by the third electronic device, The first electronic device is in accordance with the The WiFi signal strength and the intensity of the Bluetooth signals generate more than one set of measurement data, and the first electronic device or a data server compares the set of measurement data with the plurality of sets of training data respectively to obtain An anchor point coordinate information of the training data with the highest similarity.

A further technical means for achieving the above object is that the indoor positioning system comprises: a first electronic device having a WiFi communication protocol and a Bluetooth communication protocol; and a plurality of second electronic devices are disposed in one field. The second electronic device detects a WiFi signal and a WiFi ID (Identity) identification code sent by the first electronic device through the WiFi protocol, and a plurality of third electronic devices are disposed at the site. The third electronic device detects a Bluetooth signal and a Bluetooth ID code sent by the first electronic device through the Bluetooth communication protocol; a data server transmits the network through the network The second electronic device is connected to the third electronic device, and the data servo device comprises a plurality of training materials including training coordinate information; and when the user holds the first electronic device to enter the site, the second electronic device detects The WiFi signal strength of the first electronic device and the WiFi ID identification code of the first electronic device are transmitted to the data server, and the third electronic device detects the first The Bluetooth signal strength of the child device and the Bluetooth ID identification code of the first electronic device are transmitted to the data server, and the data server generates a set of measurement data corresponding to the first electronic device according to the identification code. The set of measurement data is compared with each set of training data, and a training point coordinate information of the most similar training data or a position weighted combination of the similarly high training point coordinates is obtained to obtain the positioning coordinates.

10‧‧‧First electronic device

20‧‧‧Second electronic device

30‧‧‧ Third electronic device

40‧‧‧Data Server

1 is a system architecture diagram of a preferred embodiment of the present invention.

2 is a schematic diagram of an application state of a preferred embodiment of the present invention.

3 is a flow chart of a positioning method in accordance with a preferred embodiment of the present invention.

4 is a flow chart of data comparison according to a preferred embodiment of the present invention.

FIG. 5 is a flow chart of a field setting device according to a preferred embodiment of the present invention.

An indoor positioning system according to a preferred embodiment of the present invention, as shown in FIGS. 1 and 2, includes a portable first electronic device 10, a plurality of second electronic devices 20, and a plurality of third electronic devices 30. In this embodiment, a data server 40 is further included; in this embodiment, the first electronic device 10 can perform a setting field device mode in advance in a field to determine the second electronic device 20, The optimal number and location of the three electronic devices 30.

The first electronic device 10 has a WiFi communication protocol and a Bluetooth communication protocol. The second electronic device 20 broadcasts a WiFi signal through the WiFi communication protocol, and the WiFi signal includes the identification of the second electronic devices. The third electronic device 30 broadcasts a Bluetooth signal through the Bluetooth protocol, and the Bluetooth signal includes an identification code of the third electronic device; the first electronic device 10 detects WiFi and blue. The bud signal generates one or more sets of measurement data according to the received WiFi signal strength and the Bluetooth signal strength according to the identification code of the second electronic device 20 and the identification code of the third electronic device 30; During the training phase, the first electronic device 10 detects at different training points (such as A, B, C, and D), obtains training data of different training points, and analyzes training materials of different training points and coordinates of the training points. Recorded to become a field training database; in the positioning stage, the first electronic device 10 compares the measured data with the field training database, and compares the similarity between the measured data and the training data of each training point. Or The first electronic device 10 transmits the measurement data to the data server 40 through the network, and the data server 40 compares the measurement data with the field training database, and compares the measurement data with each training. The similarity of the training of the points, or the first electronic device 10 does not need to first exchange data with the data server 40, but the first electronic device 10 has a field training database pre-built in advance.

Further, the first electronic device 10 can broadcast a WiFi signal through the WiFi protocol, the first electronic device 10 broadcasts a Bluetooth signal through the Bluetooth communication protocol, and the second electronic device 20 detects the WiFi device through the WiFi interface. The signal of the first electronic device 10 records the signal strength and an identification code (ID) of the first electronic device 10 if the signal of the first electronic device 10 is detected, if the distance is too far If the signal of the first electronic device 10 is not received, a special identification code (such as NA) is inserted in an intensity field to represent the signal of the first electronic device 10, and the third electronic device 30 is Bluetooth. The interface detects the signal of the first electronic device 10, and if the signal of the first electronic device 10 is detected, records the signal strength and the identification code (ID) of the first electronic device 10, if the distance is too far If the signal of the first electronic device 10 is not detected, the special identification code (such as NA) is filled in the strength field to indicate that the signal is not detected. The second and third electronic devices 20 and 30 are wired. Internet (Ethernet) or wireless network (such as WLAN, 3G, etc.) and this information The device 40 is connected, and the detected result is immediately transmitted to the data server 40, and the second electronic device (No. 2-1) is taken as an example: one embodiment of the detection data is: "electronic device The identification code of 2-1, the first electronic device WiFi ID identification code -50", -50 represents the current signal strength (RSSI) is -50, . During the training phase, the second and third electronic devices 20 and 30 detect the detected data of the first electronic device 10 at different training points A, B, C, and D, and transmit the detected data to the detected data. The data server 40, the data server 40 obtains the corresponding signal strength according to the received identification code information of the first electronic device 10, and combines the detection data of the second device 20 and the third device 30 in a predetermined order. The signal intensity value associated with the first electronic device 10ID information becomes a training data, and the coordinate information of the training points of the different training points and the training points is recorded as a field training database; in the positioning stage, the user enters the first electronic device 10 The first electronic device 10 broadcasts the WiFi signal and the Bluetooth signal, and is detected by the second and third electronic devices 20 and 30, and is identified according to the WiFi ID and the Bluetooth ID of the first electronic device 10. The code obtains the corresponding signal strength value and transmits it to the data server 40, and the data server 40 performs the data related to the ID information according to the received detection data. The value of the number becomes a measurement data, and the measurement data of the data server 40 is compared with the training data of each training point, and the similarity between the measurement data of the group and the training data of each training point is compared.

The first electronic device 10 generates one or more sets of measurement data according to the WiFi signals and the Bluetooth signals, and compares the set of measurement data with the field training database to obtain the training data with the highest similarity. An anchor point coordinate information can accurately determine the user's instantaneous position in the venue to effectively improve the indoor positioning accuracy. Or the WiFi and Bluetooth signals are broadcast by the first electronic device 10, and are detected by the second and third electronic devices 20 and 30 and transmitted to the data server 40 to be identified according to the WiFi ID of the first electronic device 10. The code or Bluetooth ID identification code or the order of transmission (such as the first electronic device is placed in the first field) plus the identification codes of the second and third electronic devices are combined into one or more sets of measurement data, The set of measurement data is compared with the field training database to obtain an anchor point coordinate information of the training data with the highest similarity, thereby accurately determining the user's instantaneous position in the field, thereby effectively improving Indoor positioning accuracy. It must be noted that the similarity in this embodiment means that when the signal strength (such as RSSI, Received Signal Strength Indicator) is closer, the similarity is higher, and the format or ordering of the training data is The format or order of the measurement data corresponds to; for example, the training data and the measurement data may be respectively a signal vector, and the similarity of the training data and the measurement data may be directly compared, or the subtraction may be determined by a comparison value. , with a Gaussian function, etc.

In this embodiment, the operator performs a site device mode (described in 0022) in advance in the field to determine the optimal number and location of the second electronic device 20 and the third electronic device 30. The third electronic device 30 can respectively constitute a positioning device in the range of the site, and the positioning device continuously broadcasts a wireless signal. In this example, the positioning device 1 transmits the WiFi signal, and the positioning device 3 broadcasts the Bluetooth signal. Signal.

The above table is an embodiment of the field training database, wherein most of the training points A~D are pre-set in the field of the site, and each of the positioning points A, B, C, and D has training point coordinate information ( 30, 20, 2), (30, 30, 2), (40, 20, 2), (40, 30, 2), positioning device 1 composed of the second electronic device 20 and the third electronic device 30 , 2, 3 respectively broadcast wireless signals; in the training phase: the first electronic device 10 detects the signal strength at each of the positioning points A, B, C, D to obtain the training data of each training point, for example, the signal strength of the training point A Including the signal vector strength -50 of the positioning device 1, the signal vector strength -40 of the positioning device 2, and the signal vector strength -30 of the positioning device 3, the training data of the training point A is (-50, -40, - 30) In addition to the signal strength, the training data may simultaneously record the WiFi ID identification code of the positioning device 2 and the corresponding WiFi signal strength, and the Bluetooth ID identification code of the positioning device 3 and the corresponding Bluetooth signal strength.

In the positioning phase, when the user holds a first electronic device 10 to detect the signal strength of the positioning devices 1, 2, and 3 at any place in the field, at least one set of measurement data (such as -70, -35) is formed. , -25), compare the set of measured data with the training data of each training point A, B, C, and D in the field training database to calculate the similarity between the information, and obtain a similarity closest to The point, for example, if the absolute value is subtracted and the reciprocal is taken to calculate the similarity, the similarity of the positioning point C is 1/10, the similarity of the positioning point A is 1/30, and the similarity of the positioning point B is 1/34, the similarity of the anchor point D is 1/55. From this, it can be seen that the similarity is at most the anchor point C, and the coordinates of the anchor point C are taken as the positioning result. In addition to the signal strength, the measurement data can also record the WiFi ID identification code of the positioning device 2 and the corresponding WiFi signal strength, the Bluetooth ID identification code of the positioning device 3, and the corresponding Bluetooth signal strength.

In addition, the positional weighting combination in which the similarity is closest to the point may be used. For example, the average position of the first two (such as the positioning point C and the positioning point A) is used as the positioning result. The above example uses the first electronic device 10 to detect the first Second, the signals of the third electronic device 20, 30, in the embodiment, the second and third electronic devices 20, 30 can also detect the signal of the first electronic device 10 for comparison positioning.

Further, the positioning device 1, 2, and 3 formed by the second electronic device 20 and the third electronic device 30 respectively detect the wireless signal of the first electronic device 10. In this example, the positioning device 1 and the positioning device 2 The WiFi signal is detected, and the positioning device 3 detects the Bluetooth signal. In the training phase, the first electronic device 10 detects the WiFi and blue of the first electronic device by the second electronic device 20 representing the positioning device and the third electronic device 30 at each of the positioning points A, B, C, and D. The signal strength of the bud is obtained to obtain the signal strength vector of each training point. For example, the signal strength of the positioning point A, the signal strength detected by the positioning device 1 is -50, and the signal strength detected by the positioning device 2 is - 40. The signal strength detected by the positioning device 3 is -30. The positioning device 1 and the positioning device 2 transmit the self-identification code and the WiFi signal strength of the first electronic device (which may also be added with the WiFi ID identification code of the first electronic device) to the data server, and the positioning device 3 sets its own identification code and the first The Bluetooth signal strength of an electronic device (which may also be added to the Bluetooth ID of the first electronic device) is transmitted to the data server 40, and the data server 40 will transmit the electronic device 1 according to the identification code of the positioning device 1-3. The signal strength is aggregated into training materials (-50, -40, -30). In addition, the training data may also include the WiFi ID and the Bluetooth ID of the first electronic device.

During the positioning phase: when the user holds a first electronic device 10 at a certain point in the field, the positioning devices 1 and 2 detect the WiFi signal strength of the first electronic device 10 according to the WiFi ID identification code of the first electronic device. The positioning device 1 and the positioning device 2 transmit the self-identification code and the WiFi signal strength of the first electronic device (which may also be added with the WiFi ID identification code of the first electronic device) to the data server, and the positioning device 3 is based on the first The Bluetooth ID of the electronic device detects the Bluetooth signal strength of the first electronic device 10, and the positioning device 3 sets the own identification code and the Bluetooth signal strength of the first electronic device (may also add the Bluetooth of the first electronic device) ID ID) is transmitted to the data server, and the data server will be based on the positioning device 1-3 The identification code integrates the signal strength of the electronic device 1 into a measurement data (such as -70, -35, -25), and the training data may also include the WiFi ID identification code and the Bluetooth ID identification code of the first electronic device. The measurement data of the group is compared with the measurement information of each of the positioning points A, B, C, and D of the field training database to calculate the similarity between the information, and obtain a point with the closest similarity, for example: After subtraction, the absolute value is taken and the reciprocal is taken to calculate the similarity. The similarity of the positioning point C is 1/10, the similarity of the positioning point A is 1/30, the similarity of the positioning point B is 1/34, and the positioning point D The similarity is 1/55, and it can be seen that the similarity is at most the anchor point C, and the coordinates of the anchor point C are taken as the positioning result. It is worth mentioning that the first electronic device in the training phase and the positioning phase may be the same electronic device or different electronic devices. In addition, the positional weighted combination with the similarity closest to the point can also be used, for example, the average position of the first two (such as the positioning point C and the positioning point A) is taken as the positioning result.

The manner of performing the foregoing setting of the site equipment mode is as follows: the initial positioning devices are pre-arranged in the site (for example, the initial positioning devices 1, 2, and 3 each have a position coordinate) and a positioning error tolerance value (for example, 5 m) is preset. The signal strength is detected by the first electronic device 10 at the positioning points A, B, C, and D, and the signal vector strength of the initial positioning devices 1, 2, and 3, for example, the signal of the positioning point A. The intensity includes the signal vector strength -50 of the positioning device 1, the signal vector strength -40 of the positioning device 2, and the signal vector strength -30 of the positioning device 3. According to a preset variation amount (such as the variation amount = 5), when the signal intensity of the positioning point A is (-50, -40, -30), the signal intensity and the variation amount are calculated to generate one of the positioning points A. Collect information (-45, -35, -25), (-55, -45, -35), (-50, -40, -30), and extend this variance calculation to all point fixes A~D. Obtaining an extended data vector, the extended data vector includes the set information of all the anchor points A~D, and the set information of all the anchor points A~D is similar to all the set information of the extended data vector except the point set information. Degree, find the coordinate information of the anchor point corresponding to the set with the highest similarity, and calculate the distance between the corresponding coordinate of the set and the coordinate corresponding to the closest point, and find the distance combination of the most similar points (such as A set: 3m, B set: 2m, C collection: 4m, D set: 5m), if all the elements in the distance combination of the most similar points of the group are smaller than the allowable value of the positioning error, the field device setting is completed.

When any element of the most similar point distance combination of the group is larger than the positioning error tolerance value (such as A set 9m, B set: 2m, C set: 4m, D set: 5m), then the most similar point in the set is certain A new positioning device 4 is placed in the space of the range, and the above steps are repeated until all elements in the set of most similar point distance combinations are smaller than the positioning error tolerance.

Due to the strong WiFi signal coverage and wide coverage, the measurement data will have more WiFi signals and less Bluetooth signals. When calculating the similarity, WiFi will have a greater impact. However, the Bluetooth signal transmission distance is shorter ( For example, if the WiFi signal is about 100 meters and the Bluetooth signal is about 20 meters, the reliability of the Bluetooth signal is better. Therefore, in this embodiment, the signal weight can be adjusted for the signal type (WiFi or Bluetooth) and/or signal strength. The value is to avoid the result of the positioning due to the large number of the second electronic device 20, causing the positioning result to be wrong. In the weight, for example, the different values can be designed to automatically adjust the WiFi and Bluetooth signal weights, such as Bluetooth. If the signal strength is greater than or equal to -55, the signal weight is set to 10, the Bluetooth signal strength is less than -55, the weight of the signal is set to 3, and the WiFi signal weight is fixed to 1, assuming the original similarity is (1/10 (WiFi), 1 /20 (blue bud, signal strength is less than -55), 1/30 (blue bud, signal strength is greater than -55), weighted signal similarity after signal weighting (1/10, 3/20, 10/30) , that is, a WiFi signal weight is multiplied by the WiFi signal similarity, a Bluetooth signal weight is multiplied by the Bluetooth signal similarity, and the weight is obtained. After the signal weighting, the training point coordinate information of the training data with the most similarity is similar to the position weighted combination of the training point coordinates with the similarity of the signal weighting. The weight of this signal will be adjusted with the area, and the information will not be received. In the area of the Bluetooth signal, the weight of the Bluetooth will be set to 0, that is, only the received WiFi signal is used for comparison.

The first electronic device 10 mentioned in this embodiment can broadcast a WiFi signal and a Bluetooth signal, or can detect a WiFi signal and a Bluetooth signal. The second electronic device 20 can broadcast a WiFi signal, or can detect The WiFi signal can also be connected to the network by adding a network interface. The third electronic device 30 can broadcast a Bluetooth signal, or can detect a Bluetooth signal, or can add a network interface to connect to the network. Second, the third electronic devices 20, 30 can be separate devices, or can be integrated into the same device (ie, both WiFi and Bluetooth broadcast functions or WiFi and Bluetooth detection functions, and networking capabilities (LAN or WAN) ).

Through the description of the above preferred embodiment of the present invention and its application manner, the positioning method of an indoor positioning system can be further summarized, mainly by the first electronic device 10 entering the site, as shown in FIG. 3, the method includes The following steps: selectively setting a site device mode (S31) to determine the location of the second electronic device 20 and the third electronic device 30; and obtaining, by the first electronic device 10, a plurality of training materials including training point coordinate information (S32); in this embodiment, the plurality of sets of training data including the coordinates of the anchor points obtain the training data by detecting the signal strengths of the second and third electronic devices 20 and 30 at the different training points by the first electronic device 10, Or detecting, by the second and third electronic devices 20, 30, the signal strength data of the first electronic device 10 at different training points; receiving the WiFi signals sent by the second electronic devices 20 specified in the venue and the The Bluetooth (BT) signal sent by the three electronic devices 30 (S33); in this embodiment, the WiFi signal and the Bluetooth signal all have an ID certificate for the first electronic device 10 to recognize; according to the received WiFi Signal The Bluetooth signals generate more than one set of measurement data (S34); the first electronic device 10 compares the similarity between the set of measurement data and the field training data (S35), or transmits the measured data The data server 40 is compared to a remote end; the similarity in this embodiment means that the closer the signal value is, the higher the similarity is; according to the result of comparing the similarity between the measured data and all the training materials, The coordinate information of a training point that obtains the most similar training data is used as the current positioning point coordinate, or a plurality of training points with higher similarity are obtained, and the current positioning point coordinates are obtained according to the weighted combination of the coordinates of the training point coordinates (S36).

In the present embodiment, the number of the second electronic device 20 and the third electronic device 30 in the site is N, and the format of the training data may be a mixture of the WiFi signals, the Bluetooth signals, or The order of the training data is (signal intensity 1, signal strength 2, ..., signal strength 10). Similarly, the format of the measurement data can be (signal intensity 1', Signal strength 2', ..., signal strength 10'), the format or order of the training data should be corresponding to the format or order of the measurement data, for example: the training data, the measurement data The signal strength in the signal can be a signal vector, and the similarity of the training data and the measured data can be directly compared, or the subtraction takes the value of the pair, the probability of the Gaussian function, and the like.

In the step of comparing the similarity of the set of measurement data with each set of training data (S35), as shown in FIG. 4, the method further includes the following substeps: generating a set of signal weights according to the type and intensity of the signal ( S351); calculating each signal similarity (S352); multiplying each signal similarity by a signal weight to obtain a signal weighted similarity (S353); and based on the signal weighted similarity, obtaining a training point coordinate information of the most similar training data At present, the coordinates of the anchor points, or a plurality of training points with higher similarity, are obtained according to the weighted combination of the coordinates of the coordinates of the training points to obtain the current coordinates of the anchor points.

Further, in the embodiment, when the foregoing step is performed to the step of “execution of setting a site device (S31) mode”, as shown in FIG. 5, the method further includes the following substeps: detecting the specified in the site scope WiFi signal and Bluetooth (BT) signal strength (S311); obtain multiple sets of signal strength (S312); calculate the similarity between each group of signal strengths to obtain a maximum error value (S313); determine the maximum error value Whether it is less than a preset positioning accuracy value (S314); if yes, proceeding to the aforementioned step of "acquiring a plurality of sets of training data with positioning point coordinate information (S32)"; if not, adding one to the site The second electronic device 20 or a third electronic device 30 obtains a new set of signal strengths (S315).

In addition, the first electronic device in the training phase and the positioning phase of the present invention may be implemented by only one first electronic device or by different first electronic devices.

As can be seen from the description of the preferred embodiment, the user can carry the first electronic device 10 into the site, and connect to the network through the WiFi protocol, the Bluetooth protocol, and the signal within the site. Detecting that the first electronic device 10 can be a mobile device or a computer device, the second electronic device 20 can be a WiFi device, and the third electronic device 30 can be a Bluetooth device. A plurality of second electronic devices 20 and a plurality of third electronic devices 30 respectively broadcast a WiFi signal and a Bluetooth signal to the first electronic device 10 through the WiFi protocol and the Bluetooth communication protocol, and the first electronic device 10 Instantly obtaining a plurality of training materials including training point coordinate information, or pre-built with each group of training data including positioning point coordinate information, when the user moves in the field, the first electronic device 10 detects the same. The WiFi signal and the Bluetooth signal are used to generate the set of measurement data, and the coordinate information of the positioning point is obtained according to the similarity between the measurement data and the training data, thereby accurately determining the user's Real-time location within the site, in order to achieve the purpose of enhancing indoor positioning accuracy.

Claims (9)

A positioning method of an indoor positioning system is performed by a first electronic device in a field, and the first electronic device performs the following steps: receiving a WiFi signal and a Bluetooth signal specified in the venue; and receiving the WiFi signal according to the received The Bluetooth signal generates more than one set of measurement data; the similarity of the set of measurement data to the plurality of sets of training data or the measurement data is transmitted to a remote comparison, and a signal is generated according to the type and intensity of the signal. The signal weight of the group signal increases the signal weight of the Bluetooth signal to avoid the result of the positioning due to the large number of WiFi signals, and calculates the similarity of each signal, multiplying the signal similarity by the signal weight to obtain the signal. Weighted similarity; according to the weighted similarity of the signal, the coordinate information of a training point that obtains the most similar training data is used as the current positioning point coordinate, or a plurality of training points with higher similarity are obtained, and the position weighted combination according to the coordinate information of the training point is obtained. To get the current anchor point coordinates. The method for locating an indoor positioning system according to claim 1, wherein the format of the training data is a mixture of the WiFi signals, the Bluetooth signals, or sequentially, and the format or order of the training materials is compared when the similarity is compared. It should correspond to the format or ordering of the measurement data. The method for locating an indoor positioning system according to claim 1, the method further comprising: performing a setting of a site device mode, and when performing the step of setting a site device mode, the method further comprises the following substep: detecting the specified in the site The signal strength; calculating the anchor point and the signal strength to generate a set of information; obtaining an extended data vector, and obtaining a set of distance combinations of the most similar points according to the extended data vector and the aggregate information; determining all the distance combinations in the set Whether the elements are less than a preset positioning error tolerance; If yes, proceed to the above steps of "receiving the WiFi signal and Bluetooth signal specified in the venue". The positioning method of the indoor positioning system according to claim 3, when the step is performed to "determine whether all elements in the group distance combination are smaller than a preset positioning error tolerance value", if not, then obtain new Signal strength information. The method for locating an indoor positioning system according to claim 1, further comprising the steps of: performing detection at different training points to obtain training data of different training points; and recording training data and coordinates of different training points. An indoor positioning system includes: a portable first electronic device having a WiFi communication protocol and a Bluetooth communication protocol; and a plurality of second electronic devices disposed within a field, the second electronic The device transmits a WiFi signal through the WiFi protocol; a plurality of third electronic devices are disposed in the venue, and the third electronic devices respectively send a Bluetooth signal through the Bluetooth communication protocol; The first electronic device enters the site and receives the WiFi signal sent by the second electronic device and the Bluetooth signal sent by the third electronic device, the first electronic device according to the WiFi signal, The blue signal generates more than one set of measurement data, and the first electronic device or a data server compares the measured data with the plurality of training data separately, and generates a set of signals according to the type and intensity of the signal. Weight, increase the signal weight of the Bluetooth signal to avoid the result of positioning due to the large number of WiFi signals, and calculate the similarity of each signal, and then the signals The degree of similarity is multiplied by the signal weight to obtain the weighted similarity of the signal, and the weighted similarity of the signal is used to obtain the coordinate information of the training point of the training data with the highest similarity as the current positioning point coordinate, or to obtain a certain degree of training with a higher degree of similarity. Point, according to the position weighted combination of the training point coordinate information to obtain the current positioning point coordinate information. The indoor positioning system of claim 6, wherein the first electronic device performs detection at different training points to obtain training data of different training points, and records training materials and information of different training points. An indoor positioning system includes: a first electronic device having a WiFi communication protocol and a Bluetooth communication protocol; and a plurality of second electronic devices disposed within a field, the second electronic devices are respectively Receiving, by the WiFi communication protocol, a WiFi signal sent by the first electronic device and a WiFi ID identification code; a plurality of third electronic devices are disposed in the field, and the third electronic devices respectively transmit the blue a bud communication protocol, receiving a Bluetooth signal and a Bluetooth ID identification code sent by the first electronic device; and a data server connecting to the second electronic device and the third electronic device via a network, The data servo device has a plurality of training materials including training coordinate information; when the user enters the site with the first electronic device, the second electronic device detects the WiFi signal strength of the first electronic device and the first The WiFi ID of the electronic device is transmitted to the data server, and the third electronic device detects the Bluetooth signal strength of the first electronic device and the first electronic device. The Bluetooth ID code is transmitted to the data server, and the data server generates a set of measurement data corresponding to the first electronic device according to the identification code, and compares the set of measurement data with the plurality of sets of training data respectively. And generating a set of signal weights according to the type and intensity of the signal, increasing the signal weight of the Bluetooth signal to avoid the result of the positioning due to the large number of WiFi signals, and calculating the similarity of each signal, and each signal The similarity is multiplied by the signal weight to obtain the signal weighted similarity. According to the signal weighted similarity, the coordinate information of the training point that obtains the most similar training data is used as the current anchor point coordinate, or a number of training points with higher similarity are obtained. According to the position weighted combination of the training point coordinates information to obtain the current anchor point coordinates. The indoor positioning system of claim 8, wherein the second electronic device and the third electronic device detect the signal strength of the first electronic device at different training points to obtain detection data of different points, and The signal strength value associated with the first electronic device becomes a training data, and the training data and coordinates of different training points are recorded.