WO2017096728A1

WO2017096728A1 - Signal transceiving devices, mobile positioning devices, and indoor positioning and navigation system and method

Info

Publication number: WO2017096728A1
Application number: PCT/CN2016/076393
Authority: WO
Inventors: 徐家斌
Original assignee: 徐家斌
Priority date: 2015-12-08
Filing date: 2016-03-15
Publication date: 2017-06-15
Also published as: CN105528908A

Abstract

An indoor positioning and navigation system (100), signal transceiving devices (130), mobile positioning devices (140), and an indoor positioning and navigation method. The indoor positioning and navigation system (100) comprises: a parking lot management system (120) which stores a parking lot map, and identifiers (ID) and position coordinates of the signal transceiving devices (130); parking space detectors (110) which are provided on parking spaces and detect where there is a vehicle on the parking space; the signal transceiving devices (130) which are mounted on the roof and sidewalls of the parking lot or garage pillars at intervals, and receive communication signals transmitted by the mobile positioning devices (140) and feed back acknowledgement signals; the mobile positioning devices (140) which are wirelessly connected to the parking lot management system (120), transmit the communication signals and receive the acknowledgement signals from the signal transceiving devices (130), position the mobile positioning devices (140) according to the time differences between the transmission of the communication signals and the reception of the acknowledgement signals of the mobile positioning devices (140), identify the mobile positioning devices (140) and vacant parking spaces on the parking lot map, and navigate the vehicles to the vacant parking spaces. In the indoor positioning navigation system (100), the time differences of the signal transceiving devices (130) do not need to be unified, and each mobile positioning device (140) has an independent signal processing module (143) which is able to individually process signals.

Description

Signal transceiver device, mobile positioning device, indoor positioning navigation system and method

Technical field

The present invention relates to the field of positioning technologies, and in particular, to a signal transceiving device, a mobile positioning device, an indoor positioning navigation system and a method.

Background technique

At present, the positioning technology usually adopts wireless signal positioning, and mainly includes a positioning system represented by GPS and a wireless network positioning system represented by a mobile communication network.

In the GPS positioning system, the vehicle receives the positioning signal transmitted by at least three GPS satellites through the GPS receiving terminal connected thereto, and the control center (monitoring station) calculates the latitude and longitude of the vehicle according to the receiving condition of the positioning signal. Positioning is realized by height coordinates. In order to ensure the accuracy of positioning, the clocks of multiple satellites of the system need to be unified, so that multiple satellites generate signals at the same time, and are not suitable for places with obstructions (such as indoors, low parking lots, etc.) And there is an error of more than 10 meters, which is not suitable for precise positioning of a small range;

In the mobile communication network positioning system, the mobile communication terminal (transceiver module for mobile communication) installed in the vehicle and the plurality of base stations disposed on the route transmit the communication signal of the mobile communication terminal and the base station to the control center, and the control center The location of the target device in the network is calculated by the strength of the communication signal (for example, the received signal strength indicator or RSSI), and the location of the vehicle is determined by various complex ranging and direction finding. The system is not suitable for the base station signal is not good or not. Location in a remote area of the base station.

The above two systems mainly have the following two disadvantages:

First, a control center is used to process the signals fed back by the mobile communication terminal in the vehicle. When many vehicles use the system, the burden on the control center is increased, which affects the timeliness of signal feedback and signal processing;

Second, at present, many parking lots are very large. It is becoming more and more difficult to find vacancies, which causes the vehicle to waste a lot of time and energy in the process of finding a parking space. The above two systems only locate the vehicle position. It is not possible to navigate the vehicle to the vacancy.

Summary of the invention

In view of the above problems, an object of the present invention is to provide a signal transceiving device, a mobile positioning device, an indoor positioning navigation system, and an indoor positioning navigation method that do not need to adjust time difference, have good signal processing timeliness, and can navigate a vehicle to a garage vacancy.

According to an aspect of the present invention, an indoor positioning navigation system is provided, comprising: a parking space detector disposed on each parking space of a parking lot for detecting whether there is a vehicle on a parking space, and when the parking space is occupied, the parking space occupancy signal is Sended to the parking lot management system; the parking lot management system stores the parking lot map and the identifier ID of each parking space and its location coordinates, and the idle parking space is idlely marked on the parking lot map, and the parking lot management system receives the parking space. When the parking space occupied by the detector occupies the signal, the parking lot map is updated to eliminate the idle sign of the parking space; multiple signal transmitting and receiving devices, the interval (please give a numerical range) is installed in the ceiling, side wall or garage pillar of the parking lot. Connected to the parking lot management system and the mobile positioning device, wherein the parking lot management system further stores an identifier ID of each of the signal transmitting and receiving devices and its position coordinates, and the parking lot management system communicates with the mobile positioning device wirelessly. Causing the mobile positioning device to start transmitting a communication signal, and the signal transceiver device receives the communication signal Sending a confirmation signal to the mobile positioning device, according to the time difference between the mobile communication device transmitting the communication signal and receiving the confirmation signal, using the time difference method to locate the mobile positioning device, and identifying the mobile positioning device and the idle parking space on the parking lot map And displaying the driving path of the mobile positioning device to the idle parking space, and navigating the mobile positioning device to the idle parking space, wherein the communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes a mobile positioning device that transmits the communication signal The identifier ID, the identifier ID of the signal transmitting and receiving device that receives the communication signal, and the delay time of receiving the communication signal to the feedback confirmation signal.

According to another aspect of the present invention, an indoor positioning navigation system is provided, comprising: a parking space detector disposed on each parking space of a parking lot for detecting whether there is a vehicle on the parking space, and when the parking space is occupied, occupying the parking space The signal is sent to the parking lot management system; the parking lot management system stores the parking lot map and the identifier ID of each parking space and its location coordinates, and the idle parking space is idlely identified on the parking lot map, when the parking lot management system receives When the parking space of the parking space detector occupies the signal, the parking lot map is updated to eliminate the idle sign of the parking space; multiple signal transmitting and receiving devices are installed at intervals on the ceiling, side wall or garage pillar of the parking lot, and the parking lot management The system is connected to the mobile positioning device, and each of the signal transmitting and receiving devices has an identifier ID, and multiple signals are transmitted and received. The identifier ID and its position coordinate are stored in the parking lot management system, receive the communication signal transmitted by the mobile positioning device and feed back the confirmation signal to the mobile positioning device; the mobile positioning device is connected to the parking lot management system wirelessly, from the parking The field management system downloads the parking lot map, transmits a communication signal to the signal transceiver device and receives the feedback confirmation signal thereof, and determines the position coordinate of the mobile positioning device according to the time difference method according to the time difference between the mobile communication device transmitting the communication signal and the receiving confirmation signal, and parking Identifying the mobile positioning device and the idle parking space on the field map and displaying the driving path of the mobile positioning device to the free parking space, and navigating the mobile positioning device to the idle parking space, wherein the communication signal includes an identifier ID of the mobile positioning device; The acknowledgment signal includes an identifier ID of the mobile positioning device transmitting the communication signal, an identifier ID of the signal transmitting and receiving device receiving the communication signal, and a delay time of receiving the communication signal to the feedback acknowledgment signal.

According to a third aspect of the present invention, there is provided a signal transceiving device for mounting on a ceiling, a side wall or a garage pillar of a parking lot, connected to a parking lot management system and a mobile positioning device, each signal transmitting device having a unique An identifier ID, the position coordinate of the signal transceiving device in the parking lot is obtained by the identifier ID, the identifier ID and its position coordinate are stored in a parking lot management system, and the signal generating device comprises: first signal transmission and reception The module is capable of receiving and transmitting signals, capable of receiving a communication signal transmitted by the mobile positioning device entering the parking lot and feeding back an acknowledgement signal to the mobile positioning device; the first clock module receiving the reflected signal and issuing the acknowledgement signal to the first signal transceiver module Two timings are performed to measure the delay time of the two moments, wherein the communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, An identifier ID of a signal transmitting and receiving device that receives the communication signal and a receiving communication signal thereof That the delay time of the feedback signal.

According to a fourth aspect of the present invention, a mobile positioning device for mounting on a vehicle or a handheld device such as a mobile phone includes: a second signal transceiving module wirelessly connected to the vehicle management system and the signal transceiving device, and parking After the field management system is connected, the communication signal is transmitted to the plurality of signal transceiving devices installed in the parking lot in a divergent propagation manner and receives an acknowledgement signal thereof, wherein each mobile positioning device has a unique identifier ID, The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device transmitting the communication signal, an identifier ID of the signal transmitting and receiving device receiving the communication signal, and a receiving communication signal to the feedback confirmation signal Delay time; the second clock module clocks the timing at which the second signal transceiver module transmits the communication signal and receives the acknowledgment signal; the signal processing module passes the second signal transceiver module a time difference between the block transmitting communication signal and the receiving confirmation signal, determining a distance between the mobile positioning device and the plurality of signal transmitting and receiving devices by using a time difference method, determining a position coordinate of the mobile positioning device by using position coordinates of the plurality of signal transmitting and receiving devices, and Transmitting the position coordinate of the mobile positioning device to the display module; the display module downloading the parking lot map from the parking lot management system through the second signal transceiver module, receiving the position coordinate of the mobile positioning device transmitted by the signal processing module, and in the parking lot Marking is displayed on the map, and the mobile positioning device and the idle parking space are respectively used as the starting place and the destination, and the driving route between the two is displayed, and the mobile positioning device is navigated to the idle parking space.

According to a fourth aspect of the present invention, an indoor positioning and navigation method includes: when a vehicle enters a parking lot, the parking lot management system wirelessly connects with the mobile positioning device in the vehicle, and sends a parking lot map to the mobile positioning device, The mobile positioning device begins to transmit a communication signal, wherein the transmission communication signal includes an identifier ID of the mobile positioning device; and a plurality of signal transceiving devices disposed on a ceiling, a side wall or a garage pillar of the parking lot receive the mobile positioning device to transmit The communication signal and the feedback confirmation signal to the mobile positioning device, wherein the confirmation signal includes an identifier ID of the mobile positioning device transmitting the communication signal, an identifier ID of the signal transmitting and receiving device receiving the communication signal, and a receiving communication signal thereof The delay time of the feedback confirmation signal; the acknowledgment signal of the plurality of signal transceiving devices is received by the mobile positioning device, and each time signal difference device is used to determine each signal transceiver device and the mobile positioning according to the time difference between the mobile communication device transmitting the communication signal and the receiving acknowledgment signal. The distance L of the device; according to the above letters Position coordinates of the transceiver device, determine the position coordinates of the mobile positioning device, that is, locate the vehicle; identify the mobile positioning device, the idle parking space, and the driving path between the two on the parking lot map, and the mobile station will be installed The vehicle of the positioning device navigates to the free parking space.

The signal receiving and transmitting device of the indoor positioning navigation system of the invention does not need a unified clock, and can accurately position the vehicle by using the time difference method, and each mobile positioning device can separately process the received signal, thereby avoiding adopting a control center. The signal fed back by the mobile communication terminal in the vehicle is processed to improve the timeliness of signal feedback and signal processing.

In addition, the system can not only locate the position of the vehicle, but also locate the position of the person. The owner can easily find the parking position of the vehicle by simply holding the handheld device (mobile phone or tablet) with the mobile positioning device.

DRAWINGS

The present invention by reference to the following detailed description of the embodiments and claims Other purposes and results will be more understandable and easy to understand. In the drawing:

1 is a block diagram showing the structure of an indoor positioning navigation system of the present invention;

Figure 2 is a block diagram showing the structure of a signal transmitting and receiving apparatus of the present invention;

Figure 3 is a schematic view showing the installation of the signal transceiving device of the present invention;

Figure 4 is a block diagram showing the structure of the mobile positioning device of the present invention;

5 is a schematic diagram of an interface of a display module of the mobile positioning device of the present invention;

6 is a schematic diagram of an embodiment of an indoor positioning navigation system of the present invention;

7 is a flow chart of the indoor positioning navigation method of the present invention;

8 is a schematic diagram of vehicle positioning in the indoor positioning navigation method of the present invention;

9 is a flow chart of a method for a vehicle owner to find a parking position of a vehicle through the indoor positioning navigation system of the present invention.

In the figures, the same reference numerals indicate similar or corresponding features or functions.

detailed description

In the following description, for the purposes of illustration However, it is apparent that these embodiments may be practiced without these specific details. In other instances, well known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

Various embodiments according to the present invention will be described in detail below with reference to the accompanying drawings.

1 is a block diagram showing the structure of an indoor positioning navigation system of the present invention. As shown in FIG. 1, the indoor positioning navigation system 100 includes

The parking space detector 110 is disposed in each parking space of the parking lot for detecting whether there is a vehicle on the parking space. When the parking space is occupied, the parking space occupancy signal is sent to the parking lot management system 120;

The parking lot management system 120 stores the parking lot map and the identifier ID of each parking space and its position coordinates, and performs idle identification on the parking space on the parking lot map ("O" in FIG. 5), when the parking lot is managed. When the system 120 receives the parking space occupancy signal sent by the parking space detector 110, the parking lot map is updated to eliminate the idle identification of the parking space;

A plurality of signal transceiving devices 130 are installed at intervals on a ceiling, a side wall or a garage pillar of the parking lot, and are connected to the parking lot management system and the mobile positioning device.

Wherein, the parking lot management system 120 also stores the identifier ID of each of the signal transceiving devices 130. And its position coordinates, after the parking lot management system 120 communicates with the mobile positioning device 140 in a wireless manner, the mobile positioning device 140 starts transmitting a communication signal, and the signal transmitting and receiving device 130 receives the communication signal and feeds back an acknowledgement signal to the mobile positioning device. 140. According to the time difference between the mobile positioning device 140 transmitting the communication signal and the receiving confirmation signal, the mobile positioning device 140 is positioned by using a time difference method, and the mobile positioning device 140 and the idle parking space are identified on the parking lot map and the movement is displayed. The positioning device 140 navigates to the driving path of the idle parking space, and navigates the mobile positioning device 140 to the idle parking space.

The communication signal includes an identifier ID of the mobile positioning device 140; the confirmation signal includes an identifier ID of the mobile positioning device 140 that transmits the communication signal, an identifier ID of the signal transmitting and receiving device 130 that receives the communication signal, and The delay time to receive the communication signal to the feedback acknowledgment signal.

Preferably, the signal transceiving device 130 is mounted at a higher position of the parking lot side wall or garage struts, which is a position that ensures that the vehicle's vehicle height does not interfere with the signal transceiving device 130 communicating with the mobile positioning device 140.

In addition, preferably, at least three signal transceiving devices 130 receive the communication signal transmitted by the mobile positioning device 140 and feed back an acknowledgement signal to the signal transceiving module.

In addition, preferably, the parking lot map of the parking lot management system 120 is periodically updated (for example, updated once in 30s) or updated in real time, and the parking lot map downloaded by the mobile positioning device 140 is also updated synchronously to prevent the vehicle from leaving the idle parking space unmarked and The unparked condition of the occupied parking space of the vehicle is occupied.

The indoor positioning navigation system 100 of the present invention transmits a communication signal by the mobile positioning device 140. The plurality of signal transmitting and receiving devices 130 receive the transmitted communication signal and feed back the confirmation signal, and use the time difference method to determine the distance between the signal transmitting and receiving device 130 and the mobile positioning device 140. The clocks of the respective signal transceiving devices 130 are required to be unified, that is, the time difference of each of the signal transceiving devices 130 does not need to be adjusted, thereby improving the simplicity and accuracy of the positioning using the time difference method. In addition, each of the mobile positioning devices 140 can separately process the received signals, thereby avoiding the use of a control center to process the signals fed back by all the mobile positioning devices in the parking lot, thereby enhancing the timeliness of signal feedback and processing.

2 is a block diagram showing the structure of a signal transceiving device of the present invention, and FIG. 3 is a schematic view showing the installation of the signal transceiving device of the present invention. As shown in FIG. 2 and FIG. 3, the signal transceiving device 130 is mounted on a ceiling and a side wall of a parking lot. Or the garage pillar is connected to the parking lot management system 120 and the mobile positioning device 140. Each of the signal transmitting and receiving devices 130 has a unique identifier ID, and the position coordinates of the signal transmitting and receiving device 130 in the parking lot can be obtained by the identifier ID. The identifier ID and its location coordinate storage In the parking lot management system 120, the signal generating device 130 includes:

The first signal transceiver module 131 is capable of receiving and transmitting signals, receiving a communication signal transmitted by the mobile positioning device 140 entering the parking lot, and feeding back an acknowledgement signal to the mobile positioning device 140, wherein the communication signal includes the mobile positioning device 140. The identifier ID includes: an identifier ID of the mobile positioning device 140 transmitting the communication signal, an identifier ID of the signal transmitting and receiving device 130 receiving the communication signal, and a delay time of receiving the communication signal to the feedback confirmation signal;

The first clock module 132 times the two times when the first signal transceiver module 131 receives the reflected signal and sends the acknowledge signal to measure the delay time of the two moments.

4 is a block diagram showing the structure of the mobile positioning device of the present invention. As shown in FIG. 4, the mobile positioning device 140 is included for installation on a vehicle or a handheld device (mobile phone, iPad, car remote control key, etc.), including:

The second signal transceiver module 141 wirelessly communicates with the vehicle management system and the signal transmitting and receiving device, and after connecting with the parking lot management system 120, starts to transmit the communication signal to the plurality of signal transmitting and receiving devices 130 installed in the parking lot in a divergent propagation manner. Acknowledgement signals for which feedback is received, wherein each mobile positioning device 140 has a unique identifier ID, the communication signal including an identifier ID of the mobile positioning device 140; the confirmation signal including the mobile positioning device 140 transmitting the communication signal The identifier ID, the identifier ID of the signal transmitting and receiving device 130 receiving the communication signal, and the delay time of receiving the communication signal to the feedback confirmation signal

The second clock module 142 counts the timing at which the second signal transceiver module 141 transmits the communication signal and receives the confirmation signal;

The signal processing module 143 detects the time difference between the communication signal and the reception confirmation signal by using the second signal transceiver module 141, and determines the distance between the mobile positioning device 140 and the plurality of signal transceiver devices 130 by using a time difference method, and transmits and receives the plurality of signals by using the plurality of signals. The position coordinates of the device 130 determine the position coordinates of the mobile positioning device (specifically, will be described in detail in the description of FIG. 8) and transmit the position coordinates of the mobile positioning device 140 to the display module 144, wherein the mobile positioning device 140 Distance L from the signal transceiver 130

L=V*(T _Receive- T- _Emission- τ)/2

Wherein, V is the signal transmission speed, T _emission is time transmitting communication signals in the mobile positioning device 140, T _receiver is a mobile positioning device timing of receiving the acknowledgment signal 140, τ to receive a communication signal transmitting and receiving device 130 a confirmation signal delay Time;

The display module 144 downloads the parking lot map from the parking lot management system 120 through the second signal transceiving module 141, receives the position coordinates of the mobile positioning device 140 transmitted from the signal processing module 143, and displays the mark on the parking lot map, and moves The positioning device 140 and the idle parking space respectively serve as the starting place and the destination, and display the driving path between the two, and navigate the mobile positioning device 140 to the idle parking space. As shown in FIG. 5, the display module 144 displays the parking lot map. “O” indicates an idle parking space (idle identification of the parking space), and “●” indicates a vehicle in which the mobile positioning device needs to be navigated.

Preferably, the signal transceiving module 141 is connected to the parking lot management system 120 via a wireless local area network, a mobile communication network or the like, and is wirelessly connected to the signal transceiving device 130 via a radio frequency and a wireless network.

In addition, preferably, the signal transceiving module 141 periodically transmits the communication signal and receives the acknowledgement signal transmitted by the at least three signal transceiving devices 130;

Preferably, the signal processing module 143 also calculates the distance between the mobile positioning device 140 and the free parking space, determines the free parking space closest to the mobile positioning device 140, and imports the position coordinates of the free parking space to the display module 144.

In addition, preferably, the display module 144 navigates the vehicle on which the mobile positioning device 140 is mounted to the nearest free parking space based on the positional coordinates of the mobile positioning device 140 determined by the signal processing module 143 and the nearest free parking space.

Additionally, preferably, the mobile positioning device 140 further includes a voice module that navigates the mobile location device 140 to the free parking space by voice prompts.

When a plurality of vehicles enter the parking lot, in order to increase the accuracy of the vehicle positioning, preferably, the mobile positioning device 140 further includes a determining unit that determines the identifier ID of the mobile positioning device 140 in the confirmation signal and the mobile positioning device of the vehicle. Whether the identifier IDs of 140 are consistent or not, the confirmation signal is transmitted to the signal processing module 143 in the mobile positioning device 140 of the vehicle to avoid the occurrence of an acknowledgement signal for transmitting the received signal transmitting and receiving device 130 to other vehicles for local vehicle positioning. The situation.

6 is a schematic diagram of an embodiment of an indoor positioning navigation system of the present invention. As shown in FIG. 6, the indoor positioning navigation system 100 includes:

The parking space detector 110 is one or more of an infrared parking position detector, a geomagnetic parking position detector and an ultrasonic parking space sensor, and is disposed in each parking space of the parking lot. When the parking space is occupied, the parking space is occupied by the parking space. The signal is transmitted to the parking lot management system 120, and the parking lot management system 120 updates the stored parking lot map to eliminate the free identification of the parking space.

The parking lot management system 120 stores a parking lot map and an identifier ID of each parking space and Position coordinates, the idle parking space is idlely identified on the parking lot map, and when the parking lot management system 120 receives the parking space occupancy signal issued by the parking space detector 110, the parking lot map is updated to eliminate the idle identification of the parking space;

The signal transceiving device 130 includes a first signal transceiving module 131 and a first clock module 132, and is disposed at a ceiling above the parking lot lane. When receiving the transmitting communication signal of the mobile positioning device 140, the feedback confirmation signal is sent to the mobile positioning device. 140, wherein the delay time τ of the signal transceiver 130 receiving the communication signal to the feedback confirmation signal is in the range of 10 ps to 50 ns;

The mobile positioning device 140 is connected to the parking lot management system 120 via a wireless network or radio frequency transmission, and locates the vehicle on which the mobile positioning device 140 is installed and navigates to the nearest free parking space, including:

The second signal transceiver module 141 is connected to the parking lot management system 120 through radio frequency transmission or wireless network transmission. After the vehicle enters the parking lot, it starts to periodically transmit communication signals, and receives at least three signal transceiving devices 130 through radio frequency transmission or wireless network transmission. The feedback confirmation signal is transmitted to the signal processing module 143;

The second clock module 142, the timing of the first signal transceiver module 141 transmitting the communication signal and receiving the acknowledgment signal, and converting it to a digital signal is transmitted to the signal processing module 143;

The signal processing module 143 is a central processing unit, for example, a single chip microcomputer, an ARM, a DSP, a PLC or an MCU. The time difference between the communication signal and the reception confirmation signal is transmitted by the signal transceiving module 141, and the mobile positioning device 140 and the signal transceiving device 130 are determined by the time difference method. The distance is obtained according to the identifier ID of the signal transmitting and receiving device in the confirmation signal, thereby obtaining the position coordinates of the signal transmitting and receiving device 130, thereby determining the position coordinates of the mobile positioning device 140, and downloading the parking lot map from the parking lot management system through the signal transmitting and receiving module 130, and Determining the nearest free parking space according to the location coordinates of the free parking space in the parking lot map, and identifying the idle parking space and the mobile positioning device on the parking lot map;

The display module 144 includes one or more of a Wifi, a Bluetooth, and a USB interface, and implements a connection between the mobile positioning device 140 and a navigation device (a driving recorder, a navigator, etc.) of the vehicle through a wired or wireless manner, and the signal processing module The mobile positioning device of 143 and the position coordinates of the nearest free parking space and the marked parking lot map are transmitted to the navigation device of the vehicle, and the position coordinates of the mobile positioning device 140 and the position coordinates of the nearest free parking space are respectively set to Start and destination, navigate the vehicle to the nearest free parking space,

The first signal transceiver module 131 and the second signal transceiver module 141 can be used for transmitting and receiving radio signals. Or one or more of a wireless network module (eg, a Zigbee module, a GMS module, a CDMA module, a Wifi network hotspot, a Bluetooth network hotspot, etc.) and an ultrasound probe;

The first clock module 132 and the second clock module 142 may be ACAM's GP30 with a timing accuracy of 10 ^-11 seconds and a signal propagation speed of 10 ⁸ m/s, which is the positioning accuracy of the indoor positioning navigation system of the present invention. Navigation accuracy can reach millimeters.

Preferably, the display module 143 of the indoor positioning navigation system 100 further includes an interface connected to a handheld device (such as a mobile phone, a tablet, etc.) in a wired or wireless manner, such as a Wifi, a Bluetooth, a SIM interface, etc., and the navigation software in the mobile phone can be used. The owner navigates to the parking space of the vehicle.

Additionally, preferably, the display module 143 of the indoor positioning navigation system 100 further includes a navigation device such as a driving recorder, a navigator for use on a vehicle that does not have a navigation device.

7 is a flowchart of an indoor positioning and navigation method of the present invention, and FIG. 8 is a schematic diagram of vehicle positioning in the indoor positioning and navigation method of the present invention. As shown in FIG. 7, the indoor positioning and navigation method includes:

First, in step S710, when the vehicle enters the parking lot, the parking lot management system 120 wirelessly connects with the mobile positioning device 140 in the vehicle, transmits a parking lot map to the mobile positioning device 140, and causes the mobile positioning device 140 to transmit a communication signal. The communication signal transmitted by the mobile positioning device 140 includes an identifier ID of the mobile positioning device, and each mobile positioning device 140 has a unique identifier ID;

In step S720, the plurality of signal transmitting and receiving devices 130 disposed on the ceiling, the side wall or the garage pillar of the parking lot receive the communication signal transmitted by the mobile positioning device 140 and feed back a confirmation signal to the mobile positioning device 140. The confirmation signal includes an identifier ID of the mobile positioning device 140 transmitting the communication signal, an identifier ID of the signal transmitting and receiving device 130 receiving the communication signal, and a delay time τ of receiving the communication signal to the feedback confirmation signal;

In step S730, the acknowledgment signals of the plurality of signal transceiving devices 130 are received by the mobile positioning device 140, and each of the signal transceiving devices 130 and the mobile positioning device is determined by the time difference method according to the time difference between the mobile communication device 140 transmitting the communication signal and the reception acknowledgment signal. The distance L of 140, preferably, the time difference between the time difference τ of the communication signal transmitted by the mobile positioning device 140 and the reception confirmation signal minus the delay τ and the signal transmission speed is used as the distance between the mobile positioning device 140 and the signal transceiving device 130; The signal transmission device 130 can also receive the communication signal and the product of the time difference between the mobile communication device 140 transmitting the communication signal and the signal transmission speed as the distance between the mobile positioning device 140 and the signal transceiver device 130, or can be received by the mobile positioning device 140. Signal and letter The number transceiver transmits the time difference between the time difference of the acknowledgement signal and the signal transmission speed as the distance between the mobile positioning device 140 and the signal transmitting and receiving device 130. The above three methods may be combined (for example, averaging) to determine the mobile positioning device 140 and the signal transmission and reception. The distance of the device 130;

After determining the distance between each of the signal transmitting and receiving devices 130 and the mobile positioning device 140, in step S740, determining the position coordinates of the mobile positioning device 140 according to the position coordinates of the respective signal transmitting and receiving devices 130, that is, positioning the vehicle, specifically The coordinates of the position of the signal transmitting and receiving device 130 are taken as the center of the circle, and the distance from the moving positioning device 140 is circled. The coordinates of the intersection of the plurality of circles are the position coordinates of the moving positioning device 140, and the movement is also installed. The position coordinates of the vehicle of the positioning device 140 are described by taking the confirmation signal of the three signal transmitting and receiving devices 130 by the mobile positioning device 140 as an example. As shown in FIG. 8 , the position coordinates of the signal transmitting and receiving device 130 are respectively taken as a center. The distance from the moving positioning device 140 is a circle, and the intersection of the three circles is the position coordinate of the mobile positioning device 140, and is also the position coordinate of the vehicle on which the mobile positioning device 140 is mounted. It should be noted that when the vehicle is in When one side of the parking space is traveling on the lane of the wall on which the signal transmitting and receiving device 130 is mounted, the mobile positioning device 140 receives two The positional coordinates of the mobile positioning device 140 can be obtained by the confirmation signal of the signal transmitting and receiving device 130. This is because one of the intersections of the two circles centered on the position coordinates of the two signal transmitting and receiving devices 130 on the wall exceeds the range of the parking lot. Therefore there is a unique intersection;

After the vehicle is positioned, in step S750, the mobile positioning device 140, the free parking space, and the driving route between the two are identified on the parking lot map, and the vehicle on which the mobile positioning device is installed is navigated to the free parking space.

Preferably, the indoor positioning navigation method further comprises: calculating a distance between the vehicle and the idle parking space according to the position coordinates of the vehicle and the idle parking space, determining an idle parking space closest to the vehicle, and navigating the vehicle to the idle parking space.

The indoor positioning and navigation method of the invention can automatically navigate the vehicle to the idle parking space, and saves the time and energy of the vehicle in finding the parking space in the parking lot with large area.

9 is a flow chart of a method for a vehicle owner to find a parking position of a vehicle through the indoor positioning navigation system of the present invention. As shown in FIG. 9, a method for a vehicle owner to find a parking position of a vehicle through the indoor positioning navigation system of the present invention includes:

First, in step S910, the two mobile positioning devices 140 are respectively installed on the vehicle owner's handheld device (mobile phone, tablet, car remote control key, etc.) and the vehicle;

In step S920, the vehicle is navigated to the idle parking space by the signal transceiving device 140 and the mobile positioning device 130 of the vehicle.

After the vehicle is parked in the free parking space, in step S930, the position coordinates of the parking space are saved in the mobile positioning device 140 of the handheld device;

When the owner returns to the parking lot, in step S940, the position of the owner is located by the signal transmitting and receiving device 130 and the mobile positioning device 140 of the handheld device;

In step S950, the owner of the vehicle is navigated to the parking space according to the position coordinates of the parking space of the vehicle held by the mobile positioning device 140 of the handheld device.

The indoor positioning navigation method of the invention can navigate the owner to the parking space, saving the time for the owner to find the vehicle parked in the parking space.

The above embodiment provides a case where the indoor positioning navigation system of the present invention is applied to a parking lot, but the present invention is not limited thereto, and the indoor positioning navigation system can be applied to a shopping mall or a supermarket to navigate the shopping person to the position of the desired product. The indoor positioning navigation system applied to shopping malls or supermarkets includes:

The plurality of signal transceiving devices 130 are installed in a shopping mall or a supermarket, connected to the server and the mobile positioning device 140 of the shopping mall or supermarket, receive the communication signal transmitted by the mobile positioning device 140, and feed back an acknowledgement signal to the mobile positioning device 140. The server stores a map of a shopping mall or a supermarket, an identifier ID of each of the signal transmitting and receiving devices and its position coordinates, and an identifier ID of all the commodities and a position coordinate thereof, and the identifier ID of the commodity may be the name of the commodity, the RFID code , two-dimensional code, etc., different types of goods have different identifier IDs;

The mobile positioning device 140 is installed on a shopping person's handheld device (such as a mobile phone) or a shopping cart, and inputs an identifier of the purchased product by a display module of the mobile positioning device or a touch screen of the shopping cart or the shopping cart, and the mobile positioning device 140 Wirelessly connecting with a server of a shopping mall or a supermarket, downloading a map of a shopping mall or a supermarket from the server, transmitting a communication signal to the signal transmitting and receiving device 130, and receiving an acknowledgement signal thereof, and transmitting a communication signal and receiving an acknowledgement signal according to the mobile positioning device 140. Time difference, using the time difference method to determine the position coordinates of the mobile positioning device 140, identifying the mobile positioning device 140 and the item to be purchased on the shopping mall or supermarket map, and displaying the walking path of the mobile positioning device 140 to the item to be purchased, will move The positioning device 140 navigates to the location of the item to be purchased,

The communication signal includes an identifier ID of the mobile positioning device 140; the confirmation signal The identifier ID of the mobile positioning device 140 transmitting the communication signal, the identifier ID of the signal transmitting and receiving device 130 receiving the communication signal, and the delay time of receiving the communication signal to the feedback confirmation signal.

Similarly, the indoor positioning navigation system of the present invention can also be applied to a cell, especially a large cell, to locate a person or a vehicle, and to navigate the person or the vehicle to a destination, specifically, to indoor positioning navigation of the community. The system includes:

The plurality of signal transceiving devices 130 are installed in the cell (for example, the cell gate), connected to the server of the cell and the mobile positioning device 140, receive the communication signal transmitted by the mobile positioning device 140, and feed back the confirmation signal to the mobile positioning device 140, where The server stores a map of the cell, an identifier ID of each of the signal transceiving devices 130 and its position coordinates, and an identifier ID of each area in the cell and its position coordinates, and the identifier ID of the area may be a name, a house number Number, building number or QR code, etc., different areas have different identifier IDs. For example, the identifier of each building can be the building number, the identifier of each household can make the house number, and the identifier of the parking lot in the cell can be name;

The mobile positioning device 140 is mounted on a hand-held device (such as a mobile phone) or a vehicle of a person, and inputs an identifier of the area of interest by a display module or a handheld device of the mobile positioning device 140, and the mobile positioning device 140 wirelessly communicates with the server of the cell. Connecting, downloading a map of the cell from the server, transmitting a communication signal to the signal transceiving device 130, and receiving an acknowledgment signal thereof, determining the mobile positioning device 140 by using a time difference method according to the time difference between the mobile communication device 140 transmitting the communication signal and receiving the acknowledgment signal. Position coordinates, identify the mobile positioning device 140 and the area on the cell map and display the walking path of the mobile positioning device 140 to the area, and navigate the mobile positioning device 140 to the area,

While the foregoing disclosure shows exemplary embodiments of the present invention, it should be understood that various changes and modifications may be made without departing from the scope of the appended claims. The functions, steps and/or actions of the method claims according to the embodiments of the invention described herein are not required to be performed in any particular order. In addition, although elements of the invention may be described or claimed in the form of an individual, it is also contemplated that a plurality of elements are included, unless explicitly limited to a single element.

Claims

An indoor positioning navigation system includes:

The parking space detector is arranged in each parking space of the parking lot to detect whether there is a vehicle on the parking space, and when the parking space is occupied, the parking space occupancy signal is sent to the parking lot management system;

The parking lot management system stores the parking lot map and the identifier ID of each parking space and its location coordinates, and the idle parking space is idlely marked on the parking lot map, and the parking lot management system receives the parking space occupancy signal sent by the parking space detector. Update the parking lot map to eliminate the free sign of the parking space;

Multiple signal transceiving devices are installed at intervals on the ceiling, side walls or garage pillars of the parking lot, and are connected to the parking lot management system and the mobile positioning device.

Wherein, the parking lot management system further stores an identifier ID of each signal transceiver device and its position coordinates, the parking lot management system wirelessly communicates with the mobile positioning device, and the mobile positioning device downloads the parking lot map from the parking lot management system and The signal transceiver device transmits a communication signal, and the signal transceiver device receives the communication signal and feeds back an acknowledgement signal to the mobile positioning device. The mobile positioning device uses a time difference method to move according to a time difference between the mobile communication device transmitting the communication signal and receiving the confirmation signal. Positioning device performs positioning, identifies the mobile positioning device and the idle parking space on the parking lot map, displays the driving path of the mobile positioning device to the free parking space, and navigates the mobile positioning device to the idle parking space.

The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, an identifier ID of the signal transmitting and receiving device that receives the communication signal, and a receiving communication signal thereof. The delay time to the feedback confirmation signal.
The indoor positioning navigation system of claim 1, wherein the parking space detector is one or more of an infrared parking position detector, a geomagnetic parking position detector, and an ultrasonic parking space sensor.
An indoor positioning navigation system includes:

The parking space detector is arranged in each parking space of the parking lot to detect whether there is a vehicle on the parking space, and when the parking space is occupied, the parking space occupancy signal is sent to the parking lot management system;

The parking lot management system stores the parking lot map and the identifier ID of each parking space and its location coordinates, and the idle parking space is idlely marked on the parking lot map, and the parking lot management system receives the parking space occupancy signal sent by the parking space detector. When the parking lot map is updated, the space of the parking space is eliminated. Idle sign

a plurality of signal transceiving devices are installed at intervals on a ceiling, a side wall or a garage pillar of the parking lot, and are connected to the parking lot management system and the mobile positioning device, each of the signal transceiving devices having an identifier ID, and a plurality of signal transceiving devices The identifier ID and its position coordinate are stored in the parking lot management system, receive the communication signal transmitted by the mobile positioning device and feed back the confirmation signal to the mobile positioning device;

The mobile positioning device is connected to the parking lot management system wirelessly, downloads the parking lot map from the parking lot management system, transmits the communication signal to the signal transmitting and receiving device, and receives the feedback confirmation signal thereof, and transmits the communication signal and the receiving confirmation signal according to the mobile positioning device. Time difference, using the time difference method to determine the position coordinates of the mobile positioning device, identifying the mobile positioning device and the idle parking space on the parking lot map and displaying the driving path of the mobile positioning device to the free parking space, and navigating the mobile positioning device to the idle parking space ,

The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, an identifier ID of the signal transmitting and receiving device that receives the communication signal, and a receiving communication signal thereof. The delay time to the feedback confirmation signal.
A signal transceiving device, wherein the signal transceiving device is mounted on a ceiling, a side wall or a garage pillar of a parking lot, and is connected to a parking lot management system and a mobile positioning device, each signal transmitting device having a unique identifier ID, the position coordinate of the signal transceiving device in the parking lot is obtained by the identifier ID, and the identifier ID and its position coordinate are stored in the parking lot management system, and the signal generating device comprises:

The first signal transceiving module is capable of receiving and transmitting signals, capable of receiving a communication signal transmitted by the mobile positioning device entering the parking lot and feeding back an acknowledgement signal to the mobile positioning device;

The first clock module counts two times when the first signal transceiver module receives the transmission signal and sends the confirmation signal to measure the delay time between the two moments,

The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, an identifier ID of the signal transmitting and receiving device that receives the communication signal, and a receiving communication signal thereof. The delay time to the feedback confirmation signal.
The signal transceiving device according to claim 4, wherein the first signal transceiving module is a radio frequency transceiver, a wireless network module or an ultrasonic transceiver.
A mobile positioning device, wherein the mobile positioning device is mounted on a vehicle or a handheld device, and includes:

The second signal transceiving module is respectively wirelessly connected to the vehicle management system and the signal transceiving device, and after being connected with the parking lot management system, starts to transmit the communication signal to the plurality of signal transceiving devices installed in the parking lot by the divergent propagation mode and accept the feedback thereof. Acknowledgement signal, wherein each mobile positioning device has a unique identifier ID, the communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device transmitting the communication signal, and a receiving station The identifier ID of the signal transmitting and receiving device of the communication signal and the delay time of receiving the communication signal to the feedback confirmation signal

a second clock module, for timing the timing at which the second signal transceiver module transmits the communication signal and receives the confirmation signal;

The signal processing module determines, by the second signal transceiver module, a time difference between the communication signal and the reception confirmation signal, and determines a distance between the mobile positioning device and the plurality of signal transceiver devices by using a time difference method, and uses position coordinates of the plurality of signal transceiver devices Determining a position coordinate of the mobile positioning device and transmitting the position coordinate of the mobile positioning device to the display module;

The display module downloads the parking lot map from the parking lot management system through the second signal transceiver module, receives the position coordinates of the mobile positioning device transmitted from the signal processing module, and displays the mark on the parking lot map, and moves the positioning device and the idle parking space As a starting point and a destination, respectively, the driving route between the two is displayed, and the mobile positioning device is navigated to the idle parking space.
The mobile positioning device according to claim 6, wherein the second signal transceiving module is a radio frequency transceiver, a wireless network module or an ultrasonic transceiver.
The mobile positioning device according to claim 6, wherein the signal processing module is a single chip microcomputer, an ARM, a DSP, a PLC or an MCU.
The mobile positioning device according to claim 6, wherein the display module comprises one or more of a Wifi, a Bluetooth, a USB interface, and a SIM interface, and the mobile positioning device and the navigation device of the vehicle are implemented by wire or wirelessly or The connection of the handheld device, using the navigation device of the vehicle or the navigation software of the handheld device to navigate the vehicle.
The mobile positioning device according to claim 6, wherein the mobile positioning device further comprises a determining unit that determines whether the identifier ID of the mobile positioning device in the received confirmation signal is consistent with the mobile positioning device identifier ID of the vehicle, When consistent, the acknowledgment signal is transmitted to the signal processing module in the mobile positioning device of the vehicle.
An indoor positioning navigation system includes:

Multiple signal transceiving devices installed in malls or supermarkets, with servers in supermarkets or supermarkets The mobile positioning device is connected to receive the communication signal transmitted by the mobile positioning device and feed back the confirmation signal to the mobile positioning device, wherein the server stores a map of the shopping mall or the supermarket, an identifier ID of each signal transceiver device and its position coordinates, and all The identifier ID of the item and its location coordinates;

The mobile positioning device is installed on the shopping person's handheld device or the shopping cart, and inputs the identifier of the purchased product through the display module of the mobile positioning device or the touch screen of the handheld device or the shopping cart, and the mobile positioning device wirelessly connects with the shopping mall or The server connection of the supermarket, downloading the map of the shopping mall or the supermarket from the server, transmitting the communication signal to the signal transceiving device and receiving the feedback confirmation signal, and determining the movement according to the time difference between the transmitting communication signal and the receiving confirmation signal by the mobile positioning device Positioning device positioning coordinates, identifying the mobile positioning device and the item to be purchased on the shopping mall or supermarket map, and displaying the walking path of the mobile positioning device to the item to be purchased, and navigating the mobile positioning device to the position of the item to be purchased,

The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, an identifier ID of the signal transmitting and receiving device that receives the communication signal, and a receiving communication signal thereof. The delay time to the feedback confirmation signal.
An indoor positioning navigation system includes:

a plurality of signal transceiving devices are installed in the cell, connected to the server and the mobile positioning device of the cell, receive the communication signal transmitted by the mobile positioning device, and feed back the confirmation signal to the mobile positioning device, wherein the server stores the map of the cell, and each An identifier ID of a signal transceiving device and its position coordinates, and an identifier ID of each area in the cell and its position coordinates;

a mobile positioning device mounted on a person's handheld device or vehicle, inputting an identifier of the area of interest by a display module or a handheld device of the mobile positioning device, the mobile positioning device being wirelessly connected to the server of the cell, and downloaded from the server a map of the cell, transmitting a communication signal to the signal transceiving device and receiving an acknowledgment signal thereof, determining the position coordinate of the mobile positioning device according to the time difference method according to the time difference between the mobile communication device transmitting the communication signal and receiving the acknowledgment signal, and moving on the cell map Positioning device and the area to identify and display a walking path of the moving positioning device to the area, and to navigate the moving positioning device to the area,

The communication signal includes an identifier ID of the mobile positioning device; the confirmation signal includes an identifier ID of the mobile positioning device that transmits the communication signal, an identifier ID of the signal transmitting and receiving device that receives the communication signal, and a receiving communication signal thereof. The delay time to the feedback confirmation signal.
An indoor positioning navigation method includes:

When the vehicle enters the parking lot, the parking lot management system wirelessly connects with the mobile positioning device in the vehicle, and sends a parking lot map to the mobile positioning device, and the mobile positioning device starts to transmit a communication signal, wherein the transmitting communication signal includes a mobile positioning device. Identifier ID;

a plurality of signal transceiving devices disposed on a ceiling, a side wall or a garage pillar of the parking lot receive the communication signal transmitted by the mobile positioning device and feed back an acknowledgement signal to the mobile positioning device, wherein the confirmation signal includes transmitting the communication signal An identifier ID of the mobile positioning device, an identifier ID of the signal transmitting and receiving device receiving the communication signal, and a delay time of receiving the communication signal to the feedback confirmation signal;

The acknowledgment signal of the plurality of signal transceiving devices is received by the mobile positioning device, and the distance L between each of the signal transceiving devices and the mobile positioning device is determined by a time difference method according to the time difference between the mobile communication device transmitting the communication signal and the receiving acknowledgment signal;

Determining the position coordinates of the mobile positioning device according to the position coordinates of each of the signal transmitting and receiving devices, that is, positioning the vehicle;

The mobile positioning device, the free parking space and the driving route between the two are identified on the parking lot map, and the vehicle equipped with the mobile positioning device is navigated to the free parking space.
The indoor positioning navigation method according to claim 13, further comprising:

Mounting two mobile positioning devices to the owner's handheld device and vehicle;

Navigating the vehicle to the free parking space by the signal transceiving device and the mobile positioning device of the vehicle;

After the vehicle is parked in the free parking space, the position coordinates of the parking space are saved to the mobile positioning device of the handheld device;

When the owner returns to the parking lot, the position of the owner is located through the signal transmitting device and the mobile positioning device of the handheld device;

The owner is navigated to the parking space according to the position coordinates of the parking space of the vehicle saved by the mobile positioning device of the handheld device.
The indoor positioning navigation method according to claim 13, further comprising:

According to the position coordinates of the vehicle and the free parking space, the distance between the vehicle and the free parking space is calculated, the free parking space closest to the vehicle is determined, and the vehicle is navigated to the free parking space.
The indoor positioning and navigation method according to claim 13, wherein the method for positioning the vehicle comprises: respectively, taking the position coordinates of the signal transceiving device as a center, and drawing a circle with the distance from the moving positioning device as a radius, The coordinates of the intersection of the circle are the position of the mobile positioning device. The target is also the position coordinate of the vehicle on which the mobile positioning device is mounted.
The indoor positioning and navigation method according to claim 13, wherein the distance L between the signal transmitting and receiving device and the mobile positioning device is:

L=V*(T Receive- T- Emission- τ)/2

Wherein, V is the signal transmission speed, T is the mobile transmitting device transmitting communication signals in time location, T acknowledgment signal received by the receiving timing for mobile positioning device, τ apparatus receives communication signals sent to the delayed acknowledgment signal is a signal transceiver.