TWM628442U - Hybrid indoor positioning system - Google Patents

Abstract

The present invention provides a hybrid indoor positioning system, which includes: an electronic tag, and the electronic tag is provided with an acceleration sensing module, a first direction sensing module, a second direction sensing module and an arithmetic a module, wherein the acceleration sensing module generates an acceleration signal, the computing module receives the acceleration signal and generates a movement data, and the first direction sensing module and the second direction sensing module are respectively A first direction signal and a second direction signal are generated, and the computing module receives the first direction signal and the second direction signal to generate a direction data, and a signal receiving module is arranged in the electronic label to generate an environment wireless signal, and the movement data and direction data of the computing module are transmitted to a signal sending module; and a remote server, the remote server has a central processing unit and a signal receiving unit, and the remote server At least one field map data and an environmental signal database are built in the device, and the central processing unit captures the environmental wireless signal and the environmental signal database to generate a coordinate information, and captures the movement data A movement information is generated with the direction data and the field map data, so that the remote server can know the user's starting position through the coordinate information and the user's moving direction through the movement information.

Description

Hybrid indoor positioning system

This creation is about an indoor positioning system, especially a hybrid indoor positioning system that can calculate the positioning result by combining the user's inertial momentum with the ambient wireless signals in the indoor field, thereby achieving accurate positioning and reducing construction costs.

At present, the common indoor positioning technologies can mainly be divided into wireless signal positioning, image visual positioning, light sensor positioning and inertial positioning, and the signal types of wireless signal positioning include Bluetooth, UWB, RFID, Wi-Fi and other wireless signal technologies. Its wireless signal positioning is mainly to build multiple wireless signal sources in the field, and use a signal receiving device to receive different algorithms such as AOA, TOA, triangulation, fingerprint positioning, etc. to calculate the absolute position of the receiving device in the field , But the signal positioning technology of wireless signal will be affected by environmental factors, such as indoor structure or indoor structure materials will affect the wireless signal, which will cause the wireless signal to oscillate, and in the condition of unstable wireless signal, it will cause the signal positioning result. Constantly drifting, relatively causing difficulties in actual positioning.

Among them, image visual positioning mainly uses computer vision to collect images from the entire field. It is mainly combined with AI model training such as YOLO algorithm for model training. In application, the camera lens is used to capture the surrounding environment and input the AI model. , to obtain the positioning position, but the visual positioning of the image is very dependent on the complexity of the environment. If the appearance of the environment is too monotonous, the positioning accuracy will be greatly reduced.

In addition, the optical sensor positioning is to scan and model the field environment by using invisible light sensors such as lasers and infrared rays, and it mainly needs to have a transmitter and a receiver to accurately calculate the equipment. The distance from the scanning point, and the environment model is established by 360-degree surround method, which is then used as the basis for positioning, but the optical correlation sensor is a high unit price device, which requires stable operating conditions and is not suitable for being placed on the user. type device, the application situation is relatively limited.

In addition, inertial positioning mainly uses the motion data collected by the terminal inertial sensor to measure the speed, direction, acceleration and other information of the object, and then obtains the position information of the object through various calculations based on the dead reckoning method, but with the increase of walking time , the error of its inertial navigation positioning is also continuously accumulated, and then the problem of the error increasing with time occurs.

Therefore, how to solve the above-mentioned problems and deficiencies of conventional use is the direction that the creators of this creation and related manufacturers in this industry are eager to research and improve.

Therefore, in order to effectively solve the above problems, the main purpose of this creation is to provide a hybrid that can calculate the positioning result by combining the user's inertial momentum with the ambient wireless signals in the indoor field, thereby achieving accurate positioning and reducing construction costs. type indoor positioning system.

In order to achieve the above purpose, the present invention provides a hybrid indoor positioning system, which includes: an electronic tag, the electronic tag is configured by the user, and an acceleration sensing module and a first direction sensing module are arranged in the electronic tag. A measuring module, a second direction sensing module and a computing module, wherein the acceleration sensing module senses the movement of the user and generates an acceleration signal, and the computing module receives the acceleration signal and generates There is a movement data, and the first direction sensing module and the second direction sensing module sense the movement of the user and generate a first direction signal and a second direction signal respectively, and the computing module receives the first direction signal and the second direction signal signal to generate a direction data, and a signal receiving module is arranged in the electronic tag to receive the environmental wireless information within the range that the user can receive and generate an environmental wireless signal, and the movement data and direction data of the computing module are transmitted to the a signal sending module; and a remote server, the remote server has a central processing unit and a signal receiving unit, the signal receiving unit receives the movement data and direction data and the environmental wireless signal and transmits it to the The central processing unit, and the remote server has built-in at least one field map data and an environmental signal database, and the environmental signal database has a plurality of wireless signal combination data and a corresponding plurality of coordinate data, and The central processing unit captures the ambient wireless signal and compares the wireless signal combination data to generate coordinate information, and captures the movement data and direction data and compares the field map data to generate a The movement information enables the remote server to know the starting position of the user through the coordinate information and the moving direction of the user through the movement information.

According to an embodiment of the hybrid indoor positioning system of the present invention, the electronic tag further has a tag identification code, and the tag identification code is transmitted by the signal sending module to the signal receiving unit, so that the central processing unit can simultaneously The movement data and direction data and the ambient wireless signal and the tag identifier are retrieved.

According to an embodiment of the hybrid indoor positioning system of the present invention, the wireless signal combination data includes at least one network domain combination information and at least one network domain signal strength information.

According to an embodiment of the hybrid indoor positioning system of the present invention, the environmental signal database further includes a sampling extension data.

According to an embodiment of the hybrid indoor positioning system of the present invention, the field map data includes a movable area and an immovable area.

According to an embodiment of the hybrid indoor positioning system of the present invention, the remote server further includes a step database, the step database is electrically connected to the central processing unit, and the central processing unit captures the movement The data is first compared with the step database, and then the movement information is generated by comparing the field map data with the movement data after the comparison and the direction data.

1: Hybrid indoor positioning system

2: Electronic label

21: Acceleration sensing module

22: The first direction sensing module

23: Second direction sensing module

24: Operation module

25: Signal receiving module

26: Signal sending module

27: Label identification code

3: Remote server

31: Central Processing Unit

32: Signal receiving unit

33: Site map data

34: Environmental Signal Database

341: Wireless signal combination data

3411: Domain Combination Information

3412: Domain signal strength information

342: Coordinate data

343: Sampling Extended Data

35: Step Database

36: Display screen

S1: ambient wireless signal

82: acceleration signal

S3: The first direction signal

S4: Second direction signal

D1: Mobile data

D2: Direction information

Figure 1 is a block diagram of the creation of a hybrid indoor positioning system.

Figure 2 is a schematic diagram of the wireless signal combination data of the hybrid indoor positioning system.

Figure 3 is a block diagram of the creation of a hybrid indoor positioning system.

Figure 4 is a schematic diagram of the movable area and the immovable area of the hybrid indoor positioning system.

Figure 5 is the second block diagram of the hybrid indoor positioning system.

The above-mentioned purpose of the present invention and its structural and functional characteristics will be described with reference to the preferred embodiments of the accompanying drawings.

In the following, for the composition and technical content of the hybrid indoor positioning system in this creation, various applicable examples are listed and described in detail with reference to the accompanying drawings; however, this creation is of course not limited to the enumerated ones. Such examples, drawings or detailed descriptions are only.

Furthermore, those who are familiar with this technology should also understand that: the enumerated embodiments and the attached drawings are only for reference and description, and are not used to limit the creation; it can be based on The creations completed by the modifications or alterations described and easily implemented are also considered to be within the scope of the spirit and intent of this creation, and of course, such creations are also included in the scope of the patent application of this creation.

In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", "front", "rear", etc., are only for referring to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate rather than limit the present invention; furthermore, in the following embodiments, the same or similar elements will use the same or similar reference numerals.

First, please refer to FIG. 1 , which is a block diagram of the hybrid indoor positioning system of the present invention. It can be clearly seen from the figure that the hybrid indoor positioning system 1 includes an electronic tag 2 and a remote Server 3.

The electronic tag 2 is provided with an acceleration sensing module 21 , a first direction sensing module 22 , a second direction sensing module 23 and an operation module 24 , wherein the acceleration sensing module 21 is an accelerometer, the first direction sensing module 22 is a magnetometer, the second direction sensing module 23 is a gyroscope, and the electronic tag 2 has a signal receiving module 25 and a The signal sending module 26 and a label identification code 27 .

The remote server 3 has a central processing unit 31 and a signal receiving unit 32, the central processing unit 31 is electrically connected to the signal receiving unit 32, and the signal receiving unit 32 is signally connected to the signal sending module 26. The remote server 3 has built-in at least one field map data 33, an environmental signal database 34 and a process database 35, and the field map data 33 and the environmental signal database 34 are mixed The type indoor positioning system 1 is constructed before being put into use, wherein the site map data 33 is the floor plan of the building information and can be 2D or 3D, so the site map data 33 includes a movable area 331 and a non-movable area 331. The moving area 332 (as shown in FIG. 4 ), wherein the moving area is a moving area such as an elevator, aisle or a room, and the immovable area is a wall or In addition, the environmental signal database 34 includes a plurality of wireless signal combination data 341 and a plurality of coordinate data 342, and the wireless signal combination data 341 includes at least one network domain combination information 3411. and network domain signal strength information 3412 (as shown in Figure 3), wherein when the environmental signal database 34 is built, the builder tests and samples the wireless signal conditions in the environment prior to the indoor environment. As shown in Figure 2, it is assumed that the wireless signal status displayed at the coordinates (125, 50) includes the A domain, the B domain and the C domain, the A domain, the B domain and the C domain are the domain combination Information 3411, or the hardware device ID (BSSID) that generates the signals of the A, B, and C domains is the domain combination information 3411, and the A, B, and C domains and respectively have the displayed network domain signal strength information 3412, then create a wireless signal combination data 341 from the network domain combination information 3411 and the network domain signal strength information 3412, and the wireless signal combination data 341 corresponds to the (125, 50) The coordinate data 342 of the coordinate position, and so on, the builder tests the domain combination information 3411 and the coordinate data 342 of multiple coordinate positions in the indoor environment, and the builder tests the After multiple pieces of network domain combination information 3411 and coordinate data 342, the remote server 3 calculates each piece of network domain combination information 3411 and coordinate data 342 into an environmental signal model through an algorithm and stores it in the environmental signal database 34, The central processing unit 31 is connected to the field map data 33 and the environmental signal database 34 through signals. In addition, the step database 35 is created with different users having different step distances.

Next, please refer to FIG. 3 , which is a block schematic diagram 1 of the hybrid indoor positioning system of the present invention, wherein when the user is equipped with the electronic tag 2 and enters the indoor environment, the signal receiving module of the electronic tag 2 25 will first receive the wireless signal status in its environment, so its signal receiving module 25 will receive the domain combination information 3411 and domain signal strength information 3412, and its signal receiving module 25 will combine its domain Information 3411 and domain signal strength information 3412 sends an ambient wireless signal S1 to the signal receiving unit 32 via the signal sending module 26, and the central processing unit 31 captures the tag identification code 27 and the ambient wireless signal S1, and the central processing unit 31 passes The algorithm calculates an environmental signal model, and the central processing unit 31 compares the respective pieces of network domain combination information 3411 and the coordinate data 342 with the coordinate data 342 corresponding to the environmental signal model calculated by the algorithm, and then generates coordinate information, The coordinate information is the starting position of the user, and after the builder captures the starting position of the user, the electronic tag 2 of the user is located from the starting position, and the starting coordinate position is also The field map data 33 can be displayed on the display screen 36, or the remote server 3 can be a cloud system, and the cloud system can access its starting coordinate position to the smart device on the application side through the API and be accessed by the smart device. The screen of the device is displayed.

And when the user configures the electronic tag 2 to move in the field map data 33, the acceleration sensing module 21 senses the user's movement and generates an acceleration signal S2, and the computing module 24 receives The acceleration signal S2 generates a movement data D1 through a four-element compensation and correction algorithm, wherein the acceleration signal S2 is mainly a periodically changing waveform signal generated by its moving speed, and the operation module 24 captures The number of peaks of its waveform signal and then calculate the number of moving steps from the number of peaks. For example: when a person takes a step, the continuously generated acceleration signal will form a waveform of peaks and valleys. Therefore, the number of peaks can be used to calculate the number of moving steps. to determine the number of moving steps, and the moving data D1 is sent to the signal receiving unit 32 via the signal sending module 26, and the central processing unit 31 captures the moving data D1 and compares it with the moving step database 35, The step data stored in the remote server 3 is based on the fact that different users will have different step distances, for example, a step for an adult is 60cm, and a step for a child is 40cm. The user's moving distance can be converted from the step data, and The conversion of its moving distance only needs to be done once for the same target, for example: when a wave peak is generated and the user is an adult, it can be judged that it has moved 60cm.

When the user configures the electronic tag 2 to move in the field map data 33, the first direction sensing module 22, which is a magnetometer, senses the moving direction of the user and generates a first direction signal S3, which is the second direction sensing module 23 of the gyroscope and generates a second direction signal S4, the first direction signal S3 and the second direction signal S4 are sent to the computing module 24 by the signal sending module 26 , the operation module 24 receives the first direction signal S3 and the second direction signal S4 and generates a direction data D2 through an algorithm, so that the central processing unit 31 can judge the direction data through the first direction signal S3 of the direction data D2. The absolute direction of the electronic tag 2, such as facing east or west or south or north, etc., and the first direction sensing module 22 of the magnetometer is easily disturbed by the environmental magnetic field, in order to avoid the first direction sensing The module 22 is interfered by the magnetic field of the surrounding environment, and the situation of inaccurate determination of the orientation occurs. Therefore, the signal generated by the gyroscope of the second direction sensing module 23 is used for comparison and correction to obtain a relatively accurate orientation. The second direction sensing module 23 of the gyroscope generates a second direction signal S4, the signal sending module 26 and the central processing unit 31 capture the second direction signal S4 of the direction data D2, so that the The central processing unit 31 can determine the relative direction of the electronic tag 2 through the second direction signal S4 of the direction data D2, so as to obtain a relatively accurate orientation. Specifically, the signal of the gyroscope is not easily disturbed by the environment. It is used to compare and calibrate the signal of the magnetometer. The signal of the gyroscope is related to the starting face, so it is called the relative direction. For example, when the starting face is based on due east, the display angle of the gyroscope is 0 degrees. When it turns to due south, its angle changes to plus 90 degrees. On the contrary, if the starting direction is facing due south, then it is based on due south. When the direction turns from due east to due east, the displayed angle is minus 90 degrees. Therefore, when the starting face is known, the change of its angle can be used to judge the current face. Therefore, the system uses the first The first direction signal S3 and the second direction signal S4 obtained by the first direction sensing module 22 and the second direction sensing module 23 can confirm the orientation of the user, and if the first direction signal S3 is affected by the environment during travel The magnetic field interference can easily be corrected by the second direction signal S4 facing the opposite direction. For example, when the first direction signal S3 and the second direction signal S4 are judged by the central processing unit 31 to face inconsistency, at this time, the first direction signal S3 may be affected by In case of environmental disturbance, the central processing unit 31 can use the first direction signal S3 and the second direction signal S4 to calculate a relatively accurate orientation. For example, the direction determined by the first direction signal S3 is south, the second direction The direction signal S4 determines that the direction is southeast, and the facing calculated by the central processing unit 31 is south-southeast. The central processing unit 31 can stably determine the movement direction information of the user in the field map data 33, whereby the central processing unit 31 can determine the absolute direction of the user through the movement data D1 and the direction data D2 After the relative direction and moving distance are obtained, the user's facing position and moving information can be known, and the facing position and moving information can also be displayed through the display screen 36 carrying the field map data 33 .

As shown in FIG. 4, it is a schematic diagram of the movable area and the immovable area of the hybrid indoor positioning system of the present creation, wherein the central processing unit 31 can further optimize its movement data D1 and direction data D2. The processing unit 31 can calculate the displacement of the user by using the moving distance and the travel direction, such as a collision processing algorithm, a discrepancy correction algorithm, a multi-path algorithm or a Particle Filter algorithm, and superimpose the position coordinates of the previous position to calculate the value. Its moving trajectory is optimized according to its moving trajectory, so as to reduce the occurrence of the judgment error caused by the accumulated error, and the optimization method is that the central processing unit 31 can also be used with the field map data 33 for correction. When the moving direction is within the movable area 331, the travel direction will be continuously positioned. On the contrary, if the travel direction is within the immovable area 332, the travel direction will be restored to the previous reasonable position. After setting the coordinate position and judging the absolute direction, relative direction and moving distance of the user through the movement data D1 and direction data D2 again, the travel direction can be corrected, or the travel direction can be displayed on the display screen 36 or the cloud system After the calculation is performed, it is displayed by the smart device on the application side, whereby the hybrid indoor positioning system 1 of the present creation can calculate the positioning result by combining the user's inertial momentum with the ambient wireless signal in the indoor field, thereby achieving accurate positioning and reducing the construction cost. Set cost effectiveness.

Furthermore, if the mobile data D1 received by the central processing unit 31 does not change within the set time, the central processing unit 31 will use the mobile data D1 to determine the location of the user to see if the user has not moved. Or the acceleration sensing module 21 is faulty, so as to achieve the purpose of fault detection and positioning for the user's position.

Next, please refer to FIG. 5, which is a block diagram 1 showing the hybrid indoor positioning system of the present invention, wherein the environmental signal database 34 further includes a sampling extension data 343, wherein the sampling extension data 343 is the environmental signal After the database 34 is established, the builder uses a data normal distribution algorithm to operationally amplify the data in the environmental signal database 34, and the sampling extension data 343 is used to increase the signal volume of the comparable wireless signals, and the sampling data is The sampling extension data 343 is generated through calculation, so that the central processing unit 31 can add the information of the sampling extension data 343 for comparison, and also make the coordinate data 342 generated by the central processing unit 31 more accurate.

This creation has been described in detail above, but the above is only a preferred embodiment of this creation, and should not limit the scope of this creation, that is, all equal changes and modifications made according to the scope of this creation application etc., shall still be covered by the patent of this creation.

1: Hybrid indoor positioning system

2: Electronic label

21: Acceleration sensing module

22: The first direction sensing module

23: Second direction sensing module

24: Operation module

25: Signal receiving module

26: Signal sending module

27: Label identification code

3: Remote server

31: Central Processing Unit

32: Signal receiving unit

33: Site map data

34: Environmental Signal Database

341: Wireless signal combination data

342: Coordinate data

35: Step Database

Claims (6)

A hybrid indoor positioning system includes: an electronic tag, the electronic tag is configured by a user, and an acceleration sensing module, a first direction sensing module and a second direction sensing module are arranged in the electronic tag A measuring module and a computing module, wherein the acceleration sensing module senses the movement of the user and generates an acceleration signal, and the computing module receives the acceleration signal and generates a movement data, and the first direction The sensing module and the second direction sensing module sense the movement of the user and generate a first direction signal and a second direction signal respectively, and the operation module receives the first direction signal and the second direction signal A direction signal is generated to generate a direction data, and a signal receiving module is arranged in the electronic tag to receive an ambient wireless information within a range that the user can receive and generate an ambient wireless signal, and the movement data and direction data of the computing module are transmitted. to a signal sending module; and a remote server, the remote server has a central processing unit and a signal receiving unit, the signal receiving unit receives the movement data and direction data and the ambient wireless signal and transmits it to The central processing unit, and the remote server has built-in at least one field map data and an environmental signal database, and the environmental signal database has a plurality of wireless signal combination data and a corresponding plurality of coordinate data, And the central processing unit captures the ambient wireless signal and compares the wireless signal combination data to generate coordinate information, and captures the movement data and direction data and compares the field map data to generate a movement information, so that the remote server can know the starting position of the user through the coordinate information and know the moving direction of the user through the movement information. The hybrid indoor positioning system according to claim 1, wherein the electronic tag further has a tag identification code, and the tag identification code is transmitted by the signal sending module to the signal receiving unit, so that the central processing unit can simultaneously The movement data and direction data and the ambient wireless signal and the tag identifier are retrieved. The hybrid indoor positioning system according to claim 1, wherein the wireless signal combination data includes at least one network domain combination information and at least one network domain signal strength information. The hybrid indoor positioning system according to claim 1, wherein the environmental signal database further includes a sampling extension data. The hybrid indoor positioning system according to claim 1, wherein the field map data includes a movable area and an immovable area. The hybrid indoor positioning system of claim 1, wherein the remote server further comprises a step database, the step database is electrically connected to the central processing unit, and the central processing unit captures the movement The data is first compared with the step database, and then the movement information is generated by comparing the field map data with the movement data after the comparison and the direction data.

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