WO2019165632A1 - Procédé, appareil et équipement de positionnement en intérieur - Google Patents

Procédé, appareil et équipement de positionnement en intérieur Download PDF

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Publication number
WO2019165632A1
WO2019165632A1 PCT/CN2018/077833 CN2018077833W WO2019165632A1 WO 2019165632 A1 WO2019165632 A1 WO 2019165632A1 CN 2018077833 W CN2018077833 W CN 2018077833W WO 2019165632 A1 WO2019165632 A1 WO 2019165632A1
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distance
node
compensation value
nodes
measured
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PCT/CN2018/077833
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English (en)
Chinese (zh)
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李伟
那日苏
代理军
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深圳市汇顶科技股份有限公司
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Priority to PCT/CN2018/077833 priority Critical patent/WO2019165632A1/fr
Priority to CN201880000307.8A priority patent/CN110622024A/zh
Publication of WO2019165632A1 publication Critical patent/WO2019165632A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the field of wireless communication positioning technologies, and in particular, to an indoor positioning method, apparatus, and device.
  • indoor positioning technology mainly includes Wireless-Fidelity (WiFi) positioning, Bluetooth positioning, ultra-wideband positioning and RFID positioning.
  • WiFi Wireless-Fidelity
  • the method of indoor wireless positioning is mainly divided into two types: no ranging and no ranging. Among them, the positioning method without ranging is relatively low on hardware.
  • WiFi positioning and Bluetooth positioning generally adopt such positioning method;
  • the positioning method mainly uses the methods such as Time Of Arrival (TOA), Time Difference Of Arrival (TDOA) or Angle of Arrival (AOA) for positioning, ultra-wideband positioning and radio frequency identification positioning. This positioning method is adopted.
  • TOA Time Of Arrival
  • TDOA Time Difference Of Arrival
  • AOA Angle of Arrival
  • the mainstream Bluetooth positioning products on the market mostly adopt the Received Signal Strength Indication (RSSI) positioning method, which is not called ranging, and is also called “location fingerprint positioning method”.
  • RSSI Received Signal Strength Indication
  • the positioning process can be divided into the following two steps: the first step, offline training, firstly collecting the wireless signals of each point in the scene when only the known node (which can be understood as a Bluetooth base station) works, and analyzing the signal strength and phase of each position.
  • the second step online positioning, first detect the signal strength and phase of the location of the node to be located (can be understood as the Bluetooth terminal), and then use the appropriate algorithm Matching with the location fingerprint information in the database to obtain the closest data, thereby obtaining the location information of the node to be located.
  • the positioning method described above affects the positioning accuracy when an object in the scene moves or changes, resulting in a positioning accuracy that is not high enough.
  • the present invention provides an indoor positioning method, apparatus and device for improving positioning accuracy of indoor positioning.
  • the present invention provides an indoor positioning method, including:
  • the distance compensation value indicates the difference between the measured distance between the nodes and the actual distance
  • the measurement between the node to be positioned and the known node of each position is firstly determined according to the distance compensation value measured in advance.
  • the distance is corrected, and the coordinates of the node to be located are calculated according to the measured distance between the node to be positioned and the known node of each position, which can reduce the influence of external factors such as the movement and change of the object in the scene on the positioning accuracy, and effectively Improve the positioning accuracy of indoor positioning.
  • the method further includes:
  • the distance compensation value is calculated according to the measured distance and the actual distance between the known nodes of the two positions obtained in advance.
  • the distance compensation value is calculated according to the measured distance and the actual distance between the two known nodes in the pre-acquisition, which specifically includes:
  • the distance compensation value is calculated according to each distance difference.
  • the distance compensation value is calculated according to each distance difference, and specifically includes:
  • the average value of each distance difference is used as the distance compensation value.
  • the distance compensation value is obtained according to each distance difference, which specifically includes:
  • the weighted average of the distance differences is used as the distance compensation value.
  • obtaining a measurement distance between a node to be located and a plurality of known nodes of the location includes:
  • the measurement distance between the node to be located and the known nodes of multiple locations is calculated by the RTOF ranging method.
  • the hardware cost of the device can be reduced.
  • the location-known node is at least three, and the coordinates of the node to be located are calculated according to the measured distance between the node to be located and the known node of each location, which specifically includes:
  • the three-sided positioning algorithm is used to calculate the coordinates of the node to be located.
  • obtaining a measurement distance between a node to be located and a plurality of known nodes of the location includes:
  • the measurement distance between the node to be located and the known nodes of the plurality of locations is obtained by using any ranging method such as Bluetooth, wireless fidelity WiFi, ultra-wideband, radio frequency identification and ultrasonic.
  • the coordinates are three-dimensional coordinates.
  • the positioning accuracy of the indoor positioning can be further improved.
  • an embodiment of the present invention provides an indoor positioning device, including:
  • a ranging module configured to acquire a measurement distance between a node to be located and a plurality of known nodes
  • a correction module configured to correct a measurement distance between the node to be positioned and a known node at each position according to the pre-measured distance compensation value; the distance compensation value indicates a difference between the measured distance between the nodes and the actual distance;
  • the coordinate calculation module is configured to calculate coordinates of the node to be located according to the measured distance between the modified node to be located and the known node of each position.
  • the device further includes:
  • the compensation value calculation module is configured to calculate the distance compensation value according to the measured distance and the actual distance between the known nodes of the two positions acquired in advance.
  • the compensation value calculation module specifically includes:
  • An acquiring unit configured to acquire the measured distance and the actual distance between the known nodes of the two locations in succession;
  • a first calculating unit configured to calculate a distance difference between a measured distance between the two nodes at a known position and an actual distance
  • a second calculating unit configured to calculate a distance compensation value according to each distance difference.
  • the second computing unit is specifically configured to:
  • the average value of each distance difference is used as the distance compensation value.
  • the second computing unit is specifically configured to:
  • the weighted average of the distance differences is used as the distance compensation value.
  • the obtaining module is specifically configured to:
  • the measurement distance between the node to be located and the plurality of known nodes of the position is obtained by the round-trip time RTOF ranging method.
  • the location-known nodes are at least three, and the coordinate calculation module is specifically configured to:
  • the three-sided positioning algorithm is used to calculate the coordinates of the node to be located.
  • the obtaining module is specifically configured to:
  • the measurement distance between the node to be located and the known nodes of multiple locations is obtained by using any ranging method such as Bluetooth, wireless fidelity WiFi, ultra-wideband, radio frequency identification and ultrasonic.
  • the coordinates are three-dimensional coordinates.
  • an embodiment of the present invention provides an indoor positioning device, including: a memory and a processor, where the memory is used to store executable instructions; and the processor is configured to implement the executable instruction to implement any one of the foregoing first aspects.
  • the beneficial effects of the indoor positioning device provided by the foregoing third aspect and the possible embodiments of the third aspect
  • the beneficial effects of the first aspect and the possible implementation manners of the first aspect may be referred to herein. Let me repeat.
  • an embodiment of the present invention provides a computer readable storage medium, where a computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of the foregoing first aspects is implemented.
  • FIG. 1 is a schematic flowchart diagram of an indoor positioning method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present disclosure
  • FIG. 3 is a schematic flowchart of determining ranging between nodes according to an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of a signal transmission process according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for acquiring a distance compensation value according to an embodiment of the present invention
  • FIG. 6 is a geometric model diagram of a node to be located and a node with a known location according to an embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of another indoor positioning device according to an embodiment of the present invention.
  • the mainstream Bluetooth positioning products on the market adopt the RSSI-based positioning method.
  • the training result will be greatly affected, resulting in the presence of location fingerprint information.
  • Deviation unable to provide valid data for the online positioning phase; moreover, when adding new objects in the scene or changing the placement of the original object, it may have different effects on the physical phenomena such as reflection, refraction, and diffraction of the Bluetooth signal, resulting in position fingerprint information. There is a deviation.
  • there is a table in the scene At some time after the training is finished, the table is removed from the scene. In this case, the position fingerprint information of each point in the scene will no longer be the upper stage.
  • the embodiment of the present invention provides an indoor positioning method, device and device, which are mainly implemented by using a positioning method based on ranging, and are pre-measured.
  • the distance compensation value corrects the ranging result to reduce the influence of external factors such as the movement and change of objects in the scene on the positioning accuracy, and improve the positioning accuracy of the indoor positioning.
  • FIG. 1 is a schematic flowchart of an indoor positioning method according to an embodiment of the present invention. As shown in FIG. 1 , the method provided in this embodiment may include the following steps:
  • the executor of the method may be a node to be located, or a node with a known location.
  • the following is an example of the technical solution of the present invention.
  • FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present invention.
  • A, B, and C represent a location-known node (for example, a base station), and T represents a node to be located (for example, a terminal).
  • FIG. 2 exemplifies three nodes with known positions as an example. Of course, the number of known nodes may be more.
  • the technical solution of the present invention is exemplified below by taking three locations as known nodes.
  • the TOA ranging method, the TDOA ranging method, the AOA ranging method, or the round trip time (Roundtrip Time Of Flight) may be used.
  • RTOF Round Trip Time Of Flight
  • the measurement distance between the node T to be located and the known nodes A, B, and C is preferably calculated by using the RTOF ranging method, and the method does not require that the node to be located and the known node are known and the position is known. Time synchronization between nodes can reduce the hardware cost of the device.
  • the to-be-located node T establishes a connection and communicates with the location-aware nodes A, B, and C, respectively.
  • FIG 3 provides a schematic flow diagram of embodiments ranging between nodes embodiment of the invention, shown in Figure 3, is assumed to be located at node T transmission signal S1 at time t 1, the position of the current node receives the signal to be A positioning node T sends a signal S2, the time at which the node T to be received receives the signal S2 is t 2 , and the distance r 1 between the node T to be located and the known node A is:
  • c is the electromagnetic wave propagation speed
  • t 0 is the processing time of the signal S1 in the known node A, which is mainly the processing delay of the Microcontroller Unit (MCU).
  • MCU Microcontroller Unit
  • the location known node A puts the t 0 value in the signal S2 and returns it to the node T to be located. Therefore, no clock synchronization processing is required between the node T to be located and the known nodes A, B, and C.
  • the distance between the node T to be located and the known nodes B and C can be obtained as r 2 and r 3 , respectively.
  • the method when acquiring the measurement distance between the node T to be located and the known nodes A, B, and C, the method can be obtained by using any one of Bluetooth, WiFi, ultra-wideband, radio frequency identification, and ultrasonic.
  • the signals S1 and S2 may be commonly used indoor positioning signals such as a Bluetooth signal, a WiFi signal, an ultra-wideband signal, a radio frequency signal or an ultrasonic signal.
  • the Bluetooth signal can specifically use Bluetooth Low Energy (BLE) signal to reduce power consumption.
  • a structure related to ranging in a node includes: an MCU, a signal processing circuit, and an antenna.
  • the propagation time of the signal between the antennas of the two nodes is measured distance
  • t_need the propagation time of the signal between the antennas of the two nodes (multiplied by the electromagnetic wave propagation velocity is measured distance)
  • the node When the node is in a transmitting state (for example, the node T to be located transmits the signal S1 or the position-known node A sends the signal S2), the time at which the MCU sends a command to send a signal is recorded; when the MCU sends a signal, the signal associated with the transmitted signal is usually called.
  • the application programming interface (API) the time TX is the time to call the API.
  • the node When the node is in the receiving state (for example, the position known node A receives the signal S1 or the node T to receive the signal S2), the time TR when the received signal enters the MCU is recorded; when the MCU receives the signal, an interrupt is usually generated to indicate that there is When a new signal arrives, the time TR is the moment of interruption that is generated when the signal is received.
  • the measurement distance between the positioning node and the known node of each position is corrected by measuring the distance compensation value in advance, thereby reducing the above measurement error.
  • the distance compensation value indicates a difference between the measured distance between the nodes and the actual distance.
  • the distance compensation value can be calculated according to the measured distance between the two known locations and the actual distance. That is, the actual distance D between the antennas of the known nodes at two locations (ie, t_need ⁇ c) is measured in advance, and the measured distance R (ie, t_measure ⁇ c) between the known nodes of the two locations is measured by the indoor positioning and ranging method described above.
  • the distance compensation value E is calculated from the measured distance R and the actual distance D.
  • FIG. 5 is a schematic flowchart of a method for acquiring a distance compensation value according to an embodiment of the present invention. As shown in FIG. 5, the method may include the following steps:
  • the two known locations of the selected node may be two Bluetooth base stations, or two Bluetooth terminals, or a Bluetooth base station and a Bluetooth terminal.
  • the distance between two known nodes of the position may be adjusted, for example, adjusting the position of one of the known nodes (for example, a Bluetooth terminal) for the next time. Measurement of distance and actual distance.
  • the ranging method is used to replace the traditional position fingerprint positioning method. Therefore, the reflection, refraction, diffraction and other phenomena have little influence on the ranging result.
  • the ranging error mainly depends on the hardware and system structure, that is, the signal is in The transmission delay in the system and the MCU processing delay, so in the process of acquiring the distance compensation value, the positions of the known nodes of the two locations can be arbitrarily selected.
  • the difference between each measured distance and the actual distance is calculated to obtain the distance difference.
  • the distance difference measured for the first time is recorded as E1
  • the actual distance is recorded as D1
  • the measured distance is recorded as R1
  • E1 R1-D1
  • N measurements are performed, and the distance difference Ei (1 ⁇ ) is calculated. i ⁇ N).
  • step S202 may be performed after the step S201 is performed, or the step S202 may be performed during the process of executing S201.
  • the distance compensation value E can be calculated according to each distance difference E1 to EN by using an appropriate algorithm.
  • the average value of each distance difference can be used as the distance compensation value, that is, the distance compensation value. It is also possible to use the weighted average of the distance differences as the distance compensation value, that is, the distance compensation value. among them,
  • the weight a it can be set according to actual needs. For example, for a relatively empty environment, the environment complexity can be changed in the process of multiple measurements, and the distance difference measured in the case of low environmental complexity, A larger weight can be set, and a smaller weight can be set for the distance difference measured in the case of a higher environmental complexity.
  • the distance compensation value may be stored in the node to be located and/or the position known node, and the measured measurement distance is corrected by using the distance compensation value, that is, the measurement distance obtained in step S101 is reduced.
  • the distance compensation value is corrected by the measured distance.
  • the distance compensation value may also be a propagation time difference, that is, a propagation time corresponding to the measurement distance minus a propagation time corresponding to the actual distance.
  • the distance measurement value is subtracted from each measurement distance obtained in step S101.
  • the coordinates of the node to be located can be calculated according to the corrected measurement distances, and the coordinates of the node to be located can be calculated by using a three-sided positioning algorithm.
  • the three-dimensional coordinates can be calculated, or the two-dimensional coordinates can be calculated. In order to improve the positioning accuracy, it is preferable to calculate the three-dimensional coordinates.
  • FIG. 6 is a geometric model diagram of a node to be located and a node with a known location according to an embodiment of the present invention. As shown in FIG.
  • the locations of the nodes A, B, and C with the known locations are respectively centered, and the nodes to be located are respectively
  • the equations can be established to solve for the values of x, y, and z.
  • the node T to be located will be located at the intersection of three circles, but in practical applications, it is impossible to ensure that the error is 0, so the node T to be located may be located at a certain point in a region, that is, the established equation
  • the group may have no solution.
  • the algorithm such as Fang algorithm, Chan algorithm and Taylor series expansion method can solve this problem.
  • the algorithm can be used to process the equations, and finally the optimal solution can be obtained under a specific optimization target.
  • the specific solution process can be See the prior art and will not be described in detail here.
  • ultra-wideband positioning and radio frequency identification positioning generally adopt a positioning method based on ranging
  • WiFi positioning and Bluetooth positioning generally adopt a positioning method without ranging
  • the positioning based on ranging is adopted.
  • the distance-based positioning method is adopted. After measuring the measurement distance between the node to be located and the known node, the distance of the measurement is corrected by the distance compensation value, and then the coordinates of the node to be located are calculated. The positioning accuracy is improved, so that WiFi positioning and Bluetooth positioning can also be implemented by using a ranging-based positioning method.
  • the positioning method based on ranging is adopted, which reduces the influence of external factors such as the movement and change of objects in the scene on the positioning accuracy, and introduces the distance compensation value for measurement.
  • the correction of the distance can theoretically reduce the ranging error indefinitely, so that the positioning accuracy can be effectively improved.
  • the indoor positioning method provided by the embodiment also eliminates the manpower spent on acquiring the fingerprint information of each point in the positioning scene in the previous period. And material resources.
  • the indoor positioning method provided in this embodiment obtains a measurement distance between a node to be located and a plurality of known nodes, and performs a measurement distance between the node to be located and a known node at each position according to the distance compensation value measured in advance. After the correction, the coordinates of the node to be located are calculated according to the measured distance between the node to be positioned and the known node of each position, which can reduce the influence of external factors such as the movement and change of the object in the scene on the positioning accuracy, and effectively improve Positioning accuracy of indoor positioning.
  • FIG. 7 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present invention.
  • the indoor positioning device 100 provided in this embodiment may include:
  • the ranging module 10 is configured to acquire a measurement distance between the node to be located and a plurality of known nodes of the location;
  • the correction module 20 is configured to correct the measured distance between the node to be located and the known node of each position according to the previously measured distance compensation value; the distance compensation value indicates the difference between the measured distance and the actual distance between the nodes;
  • the coordinate calculation module 30 is configured to calculate coordinates of the node to be located according to the measured distance between the modified node to be located and the known node of each position.
  • the device may be integrated in a node to be located (for example, a terminal), or may be integrated in a location-known node (for example, a base station), or may be an independent device.
  • a node to be located for example, a terminal
  • a location-known node for example, a base station
  • the device may be integrated in a node to be located (for example, a terminal), or may be integrated in a location-known node (for example, a base station), or may be an independent device.
  • the acquiring module is specifically configured to:
  • the measurement distance between the node to be located and the known nodes of multiple locations is calculated by the RTOF ranging method.
  • the location-known nodes are at least three, and the coordinate calculation module 30 is specifically configured to:
  • the three-sided positioning algorithm is used to calculate the coordinates of the node to be located.
  • the acquiring module is specifically configured to:
  • the measurement distance between the node to be located and the known nodes of the plurality of locations is obtained by using any ranging method such as Bluetooth, wireless fidelity WiFi, ultra-wideband, radio frequency identification and ultrasonic.
  • the coordinates are three-dimensional coordinates.
  • the device provided in this embodiment can perform the foregoing method embodiments, and the implementation principle is similar to the technical effect, and details are not described herein again.
  • FIG. 8 is a schematic structural diagram of another indoor positioning device according to an embodiment of the present invention. This embodiment is a further optimization and supplement to the embodiment shown in FIG. 7 . As shown in FIG. 8 , on the basis of the embodiment shown in FIG. 7 , the indoor positioning device 200 provided in this embodiment may further include:
  • the compensation value calculation module 40 is configured to calculate the distance compensation value according to the measured distance and the actual distance between the two known positions of the two acquired locations.
  • the compensation value calculation module 40 specifically includes:
  • the obtaining unit 41 is configured to acquire the measured distance and the actual distance between the two known nodes in a plurality of times;
  • a first calculating unit 42 configured to calculate a distance difference between the measured distance between the two nodes and the actual distance between the two positions obtained each time;
  • the second calculating unit 43 is configured to calculate a distance compensation value according to each distance difference.
  • the second calculating unit 43 is specifically configured to:
  • the average value of each distance difference is used as the distance compensation value.
  • the second calculating unit 43 is specifically configured to:
  • the weighted average of the distance differences is used as the distance compensation value.
  • the device provided in this embodiment can perform the foregoing method embodiments, and the implementation principle is similar to the technical effect, and details are not described herein again.
  • An embodiment of the present invention further provides an indoor positioning device, the device comprising: a memory and a processor, wherein the memory is used to store executable instructions; and the processor is configured to implement the foregoing method embodiment when executing the executable instructions.
  • the device may be a node to be located (for example, a terminal), or a location-known node (for example, a base station), or may be an independent device.
  • a node to be located for example, a terminal
  • a location-known node for example, a base station
  • the device may be an independent device.
  • the embodiment of the invention further provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor, the method embodiment is implemented.

Abstract

L'invention concerne un procédé, un appareil et un équipement de positionnement en intérieur, le procédé comprenant les étapes suivantes : l'acquisition de distances de mesure entre un nœud à positionner et des nœuds connus d'une pluralité de positions (S101) ; la correction des distances de mesure entre le nœud à positionner et les nœuds connus de chaque position en fonction d'une valeur de compensation de distance pré-mesurée (S102) ; et le calcul des coordonnées du nœud à positionner en fonction des distances de mesure corrigées entre le nœud à positionner et les nœuds connus de chaque position (S103). Le procédé décrit peut réduire l'impact que des facteurs externes tels que le mouvement et le changement d'un objet dans une scène ont sur la précision de positionnement, améliorant ainsi efficacement la précision de positionnement du positionnement en intérieur.
PCT/CN2018/077833 2018-03-02 2018-03-02 Procédé, appareil et équipement de positionnement en intérieur WO2019165632A1 (fr)

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CN201880000307.8A CN110622024A (zh) 2018-03-02 2018-03-02 室内定位方法、装置和设备

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