TWI699130B - Dynamic multi-node indoor positioning system - Google Patents

Abstract

A dynamic multi-node indoor positioning system that includes at least one wireless portable mobile node, a plurality of dynamic nodes, at least one movable data collection unit connected to at least one of the dynamic nodes, and one remote data processing system connected to the at least one movable data collection unit is disclosed. The wireless portable mobile node and the dynamic nodes are located in an interior of a structure, and the plurality of dynamic nodes is dispersed following a path or multiple paths. Every dynamic node is used to detect any one of the wireless portable mobile nodes, and the detection data is then sent via a wireless local area network formed by all nodes to the at least one movable data collection unit, which uploads said data to the remote data processing system for analysis; the positioning system then determines the position of the wireless portable mobile node.

Description

Dynamic multi-node indoor positioning system

The invention uses wireless communication technology to develop a dynamic multi-node indoor positioning system, especially a dynamic multi-node indoor positioning system that can dynamically connect and cooperate with multiple dynamic hosts and static hosts at the same time.

In recent years, due to people’s emphasis on public safety and life and property, when designing their management systems for modern buildings, they will also consider how the building or building’s management system can effectively monitor any indoor equipment or information. Its positioning. In addition, due to the gradual maturity of various wireless communication technologies (such as Bluetooth, ZigBee, Wi-Fi, Ultra-wideband (UWB), proprietary radio frequency (RF), long range (LoRa), etc.), such management systems Various wireless communication devices can provide information about the inside and outside of the building, especially positioning information.

The conventional wireless positioning system detects the object under test through the "pre-installed" "fixed wireless node (ie addresser)", and then transmits the information through the wireless communication area network formed by the mutual connection. Taking fire and disaster relief as an example, the user can only know that the disaster occurs near the alarm (such as smoke detectors, heat detectors, etc., the node described in the present invention) through the pre-installed addressing alarms. 1 ~20 meters. In addition, taking museum tour as an example, visitors can wear specific wireless devices for the tour. When visitors walk to a specific area, if the specific area has been pre-installed with wireless reporting nodes, the visitors can Start playing the guide instructions through the broadcast at that location. In the past application scenarios, users had to install wireless nodes in advance to make software applications.

However, the node is usually a single-line design and unidirectionally connected to the remaining nodes of the wireless system. In the past, wireless communication transmission methods often caused weak transmission signals due to factors such as fire doors, basement and cross-floor barriers, long distances between nodes, and long distances between nodes and the host; and because the signals can only be transmitted in one direction , Which makes the signal isolation between nodes more serious.

Another technical problem: When the amount of information or signal transmitted by the wireless communication area network in this area suddenly increases, the network speed will be greatly reduced due to single-line, unidirectional transmission (commonly known as network traffic). Therefore, how to enable data to be transmitted quickly while reducing the problem of signal isolation between nodes is one of the problems to be solved by the present invention.

In recent years, wireless communication area networks based on neural networks have gradually become popular, allowing each wireless node to be horizontally connected to surrounding nodes; that is, each node can be connected to any location on different floors through new wireless communication technology. Or the nodes in the left and right directions, and even skip the disconnected nodes for horizontal wireless communication transmission. However, various neural network-like connection methods (such as the various wireless communication technologies mentioned above) have the disadvantages of low location accuracy and high power consumption/high cost. Therefore, how to improve the positioning accuracy of the wireless communication area network with low-cost and low-power technologies and learn the relative position and the portable wireless mobile node through the "autonomous and non-directional dynamic link" of each node The dynamics of is another subject to be solved by the present invention.

The present invention provides a dynamic multi-node indoor positioning system through at least one dynamic The wireless node, at least one portable wireless mobile node, at least one dynamic host (or gateway), and the wireless communication area network formed by the at least one wireless node calculate each unit through a fast signal update frequency and algorithm The relative position of the camera for accurate indoor positioning and signal transmission. At the same time, the positioning system of the present invention can dynamically link and cooperate with multiple dynamic hosts and static hosts (or gateways) to solve past technical problems. At the same time, the present invention dynamically alleviates the problem of insufficient wireless network traffic by dynamically increasing the host (or gateway) and transmission node, so that data can be dynamically increased by the host (or gateway) And through the mobile communication network (such as the 3.5G/4G/5G or above mobile communication network of the carrier) to quickly connect and transmit the data to the cloud data processing system. Such a technological breakthrough is an important application method of the present invention.

The present invention discloses a dynamic multi-node indoor positioning system including at least one portable wireless mobile node, a plurality of dynamic nodes, at least one dynamic host (or gateway), and a cloud data processing system. The at least one portable wireless mobile node is located inside a building, and the plurality of dynamic nodes are arranged inside the building according to a path or multiple paths to form a wireless communication area network. Each dynamic node detects the at least one portable wireless mobile node in the area in a real-time dynamic manner to generate real-time dynamic node information. The at least one dynamic host (or gateway) is connected to the wireless communication area network formed by the plurality of dynamic nodes to receive all real-time dynamic node information in the wireless communication area network. The at least one dynamic host (or gateway) uploads each real-time dynamic node information to the cloud data processing system via a mobile communication network (such as a mobile communication network of a telecom company's 3.5G/4G/5G or above), and The cloud data processing system calculates and feeds back the user a dynamic position of the at least one portable wireless mobile node according to the real-time dynamic node information.

According to one of the embodiments of the present invention, one of the plurality of dynamic nodes can skip/bypass the failed node and normally transmit each real-time dynamic node information to the at least one dynamic host (or gate). Channel device) to calculate the relative position of each node and dynamically construct a new wireless communication area network. At the same time, the multiple dynamic nodes use wireless communication technologies such as Bluetooth, ZigBee, Wifi, Ultra-wideband (UWB), proprietary radio frequency (RF), and long range (LoRa) to transmit the real-time dynamic node information to each other.

According to one of the embodiments of the present invention, the dynamic multi-node indoor positioning system uses the aforementioned single or composite wireless communication technology as the technical support of the algorithm to achieve high-precision indoor positioning.

According to one of the embodiments of the present invention, each of the real-time dynamic node information includes the signal strength or delay time or radio wave wavelength sent by each of the portable wireless mobile nodes, and the cloud data processing system is further based on receiving each of the real-time dynamic nodes. The signal strength or delay time or wave length of the node information is used to calculate the dynamic position of each portable wireless mobile node. The invention also uses the algorithm on the cloud data processing system to cross-calculate the position of the same portable wireless mobile node with different dynamic nodes to obtain the most accurate dynamic position, effectively solving the problem that the nodes are located in the same position but on different floors. "When the location is judged incorrectly, and the site environment is complicated, the signal is obstructed, the basement signal attenuation, and the signal isolation is serious... and so on.

According to one of the embodiments of the present invention, the dynamic multi-node indoor positioning system further includes at least one static node connected to at least one of the plurality of dynamic nodes. The at least one static node is used for real-time dynamic detection of each portable wireless mobile node to generate at least one static node information; wherein the at least one dynamic host (or gateway) transmits each static node information through a mobile communication network Upload to the cloud data processing system, and the cloud data processing system calculates the dynamic position of each portable wireless mobile node according to the at least one static node information.

According to one of the embodiments of the present invention, the dynamic multi-node indoor positioning system further includes a static host (or gateway) connected to the at least one static node and/or at least one of the plurality of dynamic nodes. Wherein the at least one static node is further connected to the at least one dynamic host (or gateway), and the at least one static node information is selectively passed through the at least one static host (or gateway) or the at least one dynamic host (Or gateway) upload to the cloud data processing system.

In summary, the dynamic multi-node indoor positioning system of the present invention includes at least one portable wireless mobile node, a plurality of dynamic nodes, at least one dynamic host (or gateway), and a cloud data processing system. Each dynamic node is used for real-time dynamic detection of the at least one portable wireless mobile node, and transmits a real-time dynamic node information to the at least one dynamic host (or gateway) and the cloud data processing system for the The cloud data processing system calculates a dynamic position of the at least one portable wireless mobile node. The dynamic multi-node indoor positioning system further includes a plurality of static nodes and at least one static host, each of the static nodes is used to simultaneously dynamically detect the at least one portable wireless mobile node in real time, and transmit a static node information to the At least one dynamic host (or gateway) and/or the at least one static host and the cloud data processing system are used for the cloud data processing system to calculate the dynamic position of the at least one portable wireless mobile node. With the combination of the plurality of dynamic nodes, the at least one static node, the at least one dynamic host (or gateway), and the static host, the user can flexibly analyze the dynamic node and static node information, and use the cloud The data processing system calculates the dynamic position of the at least one portable wireless mobile node more accurately. The foregoing and other technical content, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the drawings.

1: Dynamic multi-node indoor positioning system

10: Portable wireless mobile node

11a, 11b, 11c, 11d: dynamic nodes

12a, 12b, 12c: static nodes

21, 22: dynamic host (or gateway)

23: static host

31: Cloud data processing system

40: Architecture

Figure 1 is a schematic diagram of each node connected to at least one dynamic host (or gateway) and a cloud data processing system in the dynamic multi-node indoor positioning system according to the first embodiment of the present invention.

Figure 2 is a dynamic multi-node indoor positioning system according to the second embodiment of the present invention, each node is connected to the at least one dynamic host (or gateway), at least one static host (or gateway), and the cloud data processing Schematic diagram of the system.

The directional terms mentioned in the following embodiments, for example: up, down, left, right, front or back, etc., only refer to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate but not to limit the present invention. Please refer to Figures 1 and 2. Figure 1 is a dynamic multi-node indoor positioning system according to the first embodiment of the present invention. Each dynamic node is connected to at least one dynamic host (or gateway) and a cloud data processing system Schematic diagram. Figure 2 is a dynamic multi-node indoor positioning system according to the second embodiment of the present invention. Each dynamic node and each static node are connected to the at least one dynamic host (or gateway) and at least one static host (or gateway). And a schematic diagram of the cloud data processing system.

In the first embodiment of the present invention, the dynamic multi-node indoor positioning system 1 includes at least one portable wireless mobile node (such as a portable wireless mobile node 10, which may be a handheld wireless electronic device in this embodiment) , Such as a mobile phone), a plurality of dynamic nodes (ie, the first dynamic node 11a, the second dynamic node 11b, the third dynamic node 11c, the fourth dynamic node 11d), at least one dynamic host (or gateway, which is represented here) It is a first dynamic host 21, a second dynamic host 22), and a cloud data processing system 31. In the embodiment of the present invention, the at least one dynamic host may also be a gateway, but the implementation is not limited to this. The portable wireless mobile node 10 is located inside a building 40, and the plurality of dynamic nodes 11a, 11b, 11c, 11d are arranged inside the building 40 along a path. This path is represented by black arrows pointing to the dynamic nodes 11a, 11b, 11c, and 11d in the first figure. In this embodiment, the plurality of dynamic points 11a, 11b, 11c, and 11d are dynamically arranged inside the building 40 in a path, but the implementation is not limited to this. The plurality of dynamic points 11a, 11b, 11c, and 11d can also be dynamically arranged in the interior of the building 40 in multi-path. Each dynamic node 11a, 11b, 11c, 11d and the portable wireless mobile node 10 can establish a connection with each other to form a wireless communication area network (shown by the dotted line in Figure 1) and use it to dynamically detect the portable Wireless mobile node 10 to generate real-time dynamic node information. In this embodiment, each dynamic node 11a, 11b, 11c, 11d can individually generate a real-time dynamic node information. The at least one dynamic host (or gateway) 21, 22 is connected to at least one of the plurality of dynamic nodes 11a, 11b, 11c, 11d, and transmits and receives each real-time dynamic node information through the remaining dynamic nodes. The cloud data processing system 31 is connected to the at least one dynamic host (or gateway) 21 through a mobile communication network (such as a mobile communication network of 3.5G/4G/5G or above of a carrier, which is not limited in implementation). 22. Used to process and analyze all the real-time dynamic node information of the wireless communication local area network. The at least one dynamic host (or gateway) 21, 22 uploads each real-time dynamic node information to the cloud data processing system 31, and the cloud data processing system 31 calculates the portable A dynamic location of the wireless mobile node 10, or the location of the dynamic nodes 11a, 11b, 11c, 11d.

Taking Figure 1 as an example, the user can enter the building 40 from the left side of the building 40 when arranging the dynamic nodes, and then arrange the dynamic nodes in any order along the path of the black arrows pointing to the dynamic nodes 11a, 11b, 11c, and 11d 11a, 11b, 11c, 11d. In this embodiment, the portable wireless mobile node 10 can be distributed in the building 40 before or after the user deploys each dynamic node 11a, 11b, 11c, 11d. Figure 1 takes the portable wireless mobile node 10 distributed in the building 40 as an example, but the implementation is not limited to this. Each dynamic node 11a, 11b, 11c, 11d and the portable wireless mobile node 10 only need to be distributed in The information can be connected and transmitted within the range. Generally speaking, each dynamic node 11a, 11b, 11c, 11d and the portable wireless mobile node 10 can communicate with each other with Bluetooth, ZigBee, Wifi, Ultra-wideband (UWB), proprietary radio frequency (RF), long range (LoRa) ) Wait for any wireless communication technology to transmit the instant dynamic section Point information, and the distance between each dynamic node 11a, 11b, 11c, 11d or the distance between the portable wireless mobile node 10 and each dynamic node 11a, 11b, 11c, 11d is 0-50 meters, but the implementation is Not in this limit.

Each dynamic node 11a, 11b, 11c, 11d and the portable wireless mobile node 10 are connected to each other to form the wireless communication area network (as shown by the wireless communication area network formed by the dotted line in Figure 1), and each The real-time dynamic node information can be transmitted to the at least one dynamic host (or gateway) 21, 22 through the remaining dynamic nodes of the wireless communication area network (as shown in Figure 1 to the dynamic host (or gateway) 21, 22), the at least one dynamic host (or gateway) 21, 22 uploads the real-time dynamic node information to the cloud data processing system 31 through the mobile communication network (the mobile communication network is 1 The black chain arrow in the figure shows). Each of the real-time dynamic node information includes the signal strength of the portable wireless mobile node 10 and the dynamic nodes 11a, 11b, 11c, 11d, and the delay time of the signal or the wavelength of the radio wave, and the cloud data processing system 31 can Through the algorithm, different dynamic nodes 11a, 11b, 11c, 11d are used to perform position cross-calculation on the same portable wireless mobile node (such as the portable wireless mobile node 10) to obtain the most accurate dynamic position. When the number of dynamic nodes and portable wireless mobile nodes increases, the cloud data processing system 31 can calculate the relative position of each dynamic node and the portable wireless mobile node, that is, because the amount of data increases, the more accurate the calculation of the relative position will be. .

In addition, when one of the at least one dynamic node 11a, 11b, 11c, 11d is unable to transmit real-time dynamic node information due to unexplained failure (such as power failure or damage... etc.), the remaining dynamic nodes can be skipped/ By bypassing the failed node, the real-time dynamic node information is normally transmitted to the at least one dynamic host (or gateway) 21, 22. This means that within the maximum sensing range of the dynamic node, the remaining dynamic nodes can recalculate the relative position of each node through fast signal update frequency and algorithm, and dynamically reconstruct a new wireless communication area network. The cloud data processing system 31 can still calculate the location of the remaining unfaulted dynamic nodes or the location of the failed node based on the real-time dynamic node information normally transmitted. Implement here For example, when the number of users of the wireless communication area network suddenly increases, resulting in a sudden increase in the amount of information or signal transmitted, the network speed will not be greatly reduced due to single-line, unidirectional transmission (commonly known as network traffic) . The number of dynamic hosts (or gateways) and dynamic nodes can also be temporarily increased or decreased according to the demand of wireless network traffic, so as to relieve the problem of insufficient wireless network traffic with flexibility, so that data can quickly pass through the dynamically increasing host (Or gateway) using the mobile communication network to quickly upload to the cloud data processing system, depending on actual needs.

Please refer to Figure 2. The biggest difference between the second embodiment of the present invention and the first embodiment is that the second embodiment further includes at least one static node (such as static nodes 12a, 12b, 12c) and at least one static host (or gateway, such as a static host) twenty three). The at least one static node 12a, 12b, 12c and the static host (or gateway) 23 can be fixedly installed inside or outside the building. The static nodes 12a, 12b, 12c and the static host (or gateway) 23 and the dynamic nodes 11a, 11b, 11c, 11d shown in Figure 1 and the at least one dynamic host (or gateway) 21, 22 The biggest difference is that the static nodes 12a, 12b, 12c and the static host (or gateway) 23 cannot change their number or location, but they can quickly integrate into the dynamic multi-node indoor positioning through the aforementioned wireless communication technology. System. The content contained in each static node information is the same as the content contained in the real-time dynamic node information.

As shown in Figure 2, each static node 12a, 12b, 12c, each dynamic node 11a, 11b, and the portable wireless mobile node 10 only need to be distributed within a range that can connect to each other and transmit information. Each static node 12a, 12b, 12c can join the wireless communication area network formed by the at least one dynamic node 11a, 11b shown in Figure 2 (as shown in the wireless communication area network formed by the dotted line in Figure 2 , Which is substantially the same as the wireless communication area network shown in the first embodiment) so that each static node 12a, 12b, 12c communicates with other dynamic nodes 11a, 11b and the portable wireless network through the wireless communication area network. Action node 10 is connected. The at least one static host (or gateway) 23 can also be connected to the at least one dynamic host (or gateway) 21, twenty two. Each static node 12a, 12b, 12c, each dynamic node 11a, 11b, and the portable wireless mobile node 10 can transmit the real-time dynamic node information or the static node information through the above-mentioned wireless communication technology. And the static node information contained in each static node can be transmitted to the at least one dynamic host (or gateway) 21, 22 and/or the static host through the remaining static nodes and/or dynamic nodes of the wireless communication area network ( (Or gateway) 23 (as shown by the black dotted arrows pointing to the dynamic host (or gateway) 21, 22 and the static host (or gateway) 23 in Figure 2), the at least one dynamic host (Or gateway) 21, 22 or the static host 23 uploads the static node information to the cloud data processing system 31 (as shown by the black chain arrow in Figure 2), and the cloud data processing system 31 The dynamic position of the static node 12a, 12b, 12c or the dynamic node 11a, 11b or the portable wireless mobile node 10 is calculated. When the number of static nodes, dynamic nodes, and portable wireless mobile nodes increases, the cloud data processing system 31 can calculate the relative positions of the dynamic nodes, static nodes, and portable wireless mobile nodes more accurately.

To sum up, the dynamic multi-node indoor positioning system of the present invention can use a plurality of dynamic nodes arranged by the user, at least one dynamic host (or gateway) and the cloud data processing system to calculate the portable Dynamic location of wireless mobile nodes. At the same time, the user can more accurately know the dynamic position of each dynamic node and the portable wireless mobile node through the wireless communication area network formed by each dynamic node and the portable wireless mobile node. The dynamic multi-node indoor positioning system can also connect static nodes (such as static nodes 12a, 12b, 12c) and static hosts (or gateways) that have been pre-installed around and whose number or position cannot be changed. 23) In order to increase the amount of data that the dynamic multi-node indoor positioning system can process, and accurately calculate the position of the unknown portable wireless mobile node, making the dynamic multi-node indoor positioning system more diversified in application And more mobile. In other words, through the combination of dynamic nodes, static nodes, portable wireless mobile nodes, dynamic hosts (or gateways), and static hosts (or gateways), with fast signal transmission speed and update frequency, the present invention Algorithms can be used to calculate the relative positions and transmission signals of each unit, and perform accurate indoor positioning. In addition, the dynamic If any dynamic or static node of the multi-node indoor positioning system is disconnected from the wireless communication area network due to uncontrollable factors (such as power failure, damage... etc.), the remaining dynamic or static nodes with normal functions will be at their maximum Within the sensing range, the relative position of each dynamic or static node can be recalculated through fast signal update frequency and algorithm, and a new wireless communication area network can be reconstructed dynamically, and at the same time through the at least one dynamic host or static host (or Gateway) upload the location information to the cloud data processing system, so that the entire dynamic multi-node indoor positioning system will not collapse due to the disconnection of a node, and solve the problem that the wireless nodes are located in the same location but located on the upper and lower floors. The resulting signal confusion and positioning judgment errors, as well as signal problems caused by factors such as complex field environment, many signal shelters, signal attenuation in the basement, etc.

The foregoing descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.

1: Dynamic multi-node indoor positioning system

10: Portable wireless mobile node

11a, 11b, 11c, 11d: dynamic nodes

21, 22: dynamic host (or gateway)

31: Cloud data processing system

40: Architecture

Claims (7)

A dynamic multi-node indoor positioning system includes: at least one portable wireless mobile node located inside a building; a plurality of dynamic nodes, the plurality of dynamic nodes are connected to each other and are dynamically arranged in a path or multiple paths Inside the building, each dynamic node detects the at least one portable wireless mobile node in a real-time dynamic manner to generate real-time dynamic node information; at least one dynamic host is connected to at least one of the plurality of dynamic nodes , The at least one dynamic host is used to receive each of the real-time dynamic node information; and a cloud data processing system is connected to the at least one dynamic host to process and analyze the real-time dynamic node information; wherein the at least one dynamic host combines each The real-time dynamic node information is uploaded to the cloud data processing system, and the cloud data processing system calculates a dynamic position of the at least one portable wireless mobile node according to each real-time dynamic node information. The dynamic multi-node indoor positioning system according to claim 1, wherein one of the dynamic nodes of the plurality of dynamic nodes can skip/bypass the failed node and normally transmit each real-time dynamic node information to the at least one dynamic host . The dynamic multi-node indoor positioning system as described in claim 1, wherein the plurality of dynamic nodes use Bluetooth, ZigBee, Wifi, Ultra-wideband (UWB), proprietary radio frequency (RF), long range (LoRa), etc. Single or composite wireless communication technology transmits the real-time dynamic node information. The dynamic multi-node indoor positioning system according to claim 1, wherein each real-time dynamic node The point information includes the signal strength or the delay time or the wave length of the signal sent by the at least one portable wireless mobile node. The dynamic multi-node indoor positioning system according to claim 1, further comprising: at least one static node connected to at least one of the plurality of dynamic nodes, and the at least one static node is used for real-time dynamic detection of the at least one A portable wireless mobile node to generate at least one static node information; wherein the at least one dynamic host uploads each static node information to the cloud data processing system, and the cloud data processing system calculates the at least one static node information according to the at least one static node information. The dynamic location of a portable wireless mobile node. The dynamic multi-node indoor positioning system according to claim 5, further comprising: a static host connected to the at least one static node and/or at least one of the plurality of dynamic nodes, the static host being used for the At least one static node information is uploaded to the cloud data processing system. The dynamic multi-node indoor positioning system according to claim 5 or 6, wherein the at least one static node is further connected to the at least one dynamic host, and the at least one static node information is selectively uploaded to the at least one dynamic host The cloud data processing system.

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