CN106792459B - Method and system for high-precision positioning of wireless equipment - Google Patents
Method and system for high-precision positioning of wireless equipment Download PDFInfo
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- CN106792459B CN106792459B CN201611195375.3A CN201611195375A CN106792459B CN 106792459 B CN106792459 B CN 106792459B CN 201611195375 A CN201611195375 A CN 201611195375A CN 106792459 B CN106792459 B CN 106792459B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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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
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Abstract
The invention discloses a method and a system for high-precision positioning of wireless equipment, and relates to the technical field of Bluetooth positioning. The technical problem that the distance measurement error is large in the prior art is solved. The method for high-precision positioning of the wireless equipment comprises the following steps: respectively and mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle through two or more Bluetooth Beacon fixed nodes to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle; and obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the attenuation condition of the RSSI when the fixed node is shielded by the obstacle, and obtaining the accurate position of the wireless equipment according to the accurate distance. The invention is used for improving the positioning precision of the wireless equipment.
Description
Technical Field
The invention relates to the technical field of Bluetooth positioning, in particular to a high-precision positioning method and a high-precision positioning system for wireless equipment.
Background
With the continuous development of wireless technologies such as bluetooth, the technology of utilizing radio positioning is more and more mature, and currently, the positioning is widely performed through the radio signal strength RSSI, and iBeacon and the like are widely applied to places such as markets, supermarkets and the like.
With the continuous development and improvement of Bluetooth 4.x, Bluetooth 5.0 has been called for, the communication distance is longer, and the communication and positioning application is wider.
The applicant found that: the prior art at least has the following technical problems:
beacon positioning in the prior art is a wireless positioning scheme with more applications in recent years, but the biggest defect of the Beacon positioning is that the Beacon positioning is easily shielded by surrounding obstacles, so that signals are unstable, and the distance measurement error is large.
Disclosure of Invention
At least one object of the present invention is to provide a method for high-precision positioning of a wireless device and a system for high-precision positioning of a wireless device, which solve the technical problem of large ranging error in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a method for high-precision positioning of wireless equipment, which comprises the following steps:
respectively and mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle through two or more Bluetooth Beacon fixed nodes to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle;
the method comprises the steps that wireless equipment is used as a mobile node, and after the mobile node meets an obstacle, the RSSI after attenuation is measured when the mobile node is shielded by the obstacle;
and obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the situation that the RSSI is attenuated when the fixed node is shielded by the obstacle, and obtaining the accurate position of the wireless equipment according to the accurate distance.
Optionally, the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically includes:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a preset distance;
n is a coefficient related to the environment;
d is the distance.
Optionally, the predetermined distance is 1 m.
Optionally, the environment-dependent information specifically refers to whether the two fixed nodes are blocked by an obstacle.
Optionally, the RSSI value is an average of a plurality of measurements.
Optionally, the method for obtaining the RSSI attenuation condition when the fixed node is shielded by an obstacle by using two or more bluetooth Beacon fixed nodes and measuring the RSSI values between the fixed nodes under the condition that the fixed nodes are shielded by the obstacle and are not shielded by the obstacle, includes the following steps:
under the condition that the space between the fixed nodes is not blocked by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 1;
under the condition that the fixed nodes are shielded by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 2;
based on RSSI1, RSSI2, and the above equation: A. n is the same as the formula (I).
The invention provides a high-precision positioning system for wireless equipment, which comprises a Bluetooth Beacon wireless equipment and two or more Bluetooth Beacon fixed nodes, wherein:
the fixed nodes are used for mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle, so as to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle;
the wireless equipment is used as a mobile node, and when the mobile node encounters an obstacle, the RSSI after attenuation when the mobile node is shielded by the obstacle is measured;
the wireless device is further configured to obtain an accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the situation that the RSSI is attenuated when the fixed node is shielded by the obstacle, and thus obtain an accurate position of the wireless device.
Optionally, the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically includes:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a preset distance;
n is a coefficient related to the environment;
d is the distance.
Optionally, the predetermined distance is 1 m.
Optionally, the environment-dependent information specifically refers to whether the two fixed nodes are blocked by an obstacle.
Optionally, the method for obtaining the RSSI attenuation condition when the fixed node is shielded by an obstacle by using two or more bluetooth Beacon fixed nodes and measuring the RSSI values between the fixed nodes under the condition that the fixed nodes are shielded by the obstacle and are not shielded by the obstacle, includes the following steps:
under the condition that the space between the fixed nodes is not blocked by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 1;
under the condition that the fixed nodes are shielded by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 2;
based on RSSI1, RSSI2, and the above equation: A. n is the same as the formula (I).
Based on the technical scheme, the embodiment of the invention can at least produce the following technical effects:
according to the method, the RSSI attenuation condition when the fixed node is shielded by the obstacle is taken as a basis, and the RSSI attenuation condition when the fixed node is shielded by the obstacle is taken as a reference and reference factor of the accurate distance corresponding to the RSSI after the wireless equipment is attenuated, so that the distance between the wireless equipment and other nodes obtained when the wireless equipment is shielded by the obstacle is more accurate, the position of the wireless equipment obtained is more accurate, and the technical problem of large distance measurement error in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic diagram of a method for high-precision positioning of a wireless device according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an operating principle of a system for high-precision positioning of a wireless device according to an embodiment of the present invention.
Detailed Description
The contents of the present invention and the differences between the present invention and the prior art can be understood with reference to fig. 1 to 2 and the text. The invention will now be described in further detail, including the preferred embodiments, with reference to the accompanying drawings, in which some alternative embodiments of the invention are shown. It should be noted that: any technical features and any technical solutions in the present embodiment are one or more of various optional technical features or optional technical solutions, and for the sake of brevity, this document cannot exhaustively enumerate all the alternative technical features and alternative technical solutions of the present invention, and is also not convenient for each embodiment of the technical features to emphasize it as one of various optional embodiments, so those skilled in the art should know that: any technical means provided by the invention can be replaced or any two or more technical means or technical characteristics provided by the invention can be combined with each other to obtain a new technical scheme. Any technical features and any technical solutions in the present embodiment do not limit the scope of the present invention, and the scope of the present invention should include any alternative technical solutions that can be conceived by those skilled in the art without inventive efforts and new technical solutions that can be obtained by those skilled in the art by combining any two or more technical means or technical features provided by the present invention with each other.
The embodiment of the invention provides a method for high-precision positioning of wireless equipment and a system for high-precision positioning of the wireless equipment, wherein the distance calculation precision and the positioning precision of the wireless equipment are higher when the wireless equipment is shielded by an obstacle.
The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 2.
As shown in fig. 1 to fig. 2, a method for high-precision positioning of a wireless device according to an embodiment of the present invention includes the following steps:
step A, through two or more Bluetooth Beacon fixed nodes, respectively and mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle, so as to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle;
step B, taking the wireless equipment as a mobile node, and measuring the RSSI after attenuation when the mobile node is shielded by an obstacle after the mobile node meets the obstacle;
and step C, obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the attenuation condition of the RSSI when the fixed node is shielded by the obstacle, and obtaining the accurate position (which can be represented by coordinates) of the wireless equipment according to the accurate distance.
The above step A, B is not limited to be sequential.
According to the method, the RSSI attenuation condition when the fixed node is shielded by the obstacle is taken as a basis, and the RSSI attenuation condition when the fixed node is shielded by the obstacle is taken as a reference and reference factor of the accurate distance corresponding to the RSSI after the wireless equipment is attenuated, so that the distance between the wireless equipment and other nodes is more accurate when the wireless equipment is shielded by the obstacle, and the position of the wireless equipment is more accurate.
As an optional implementation manner, the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically includes:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a predetermined distance (preferably 1 m);
n is a coefficient related to the environment;
d is the distance.
When A, n is calculated, the distance d can be deduced by using the RSSI after attenuation obtained by detection, and further the detailed coordinate values of the wireless device can be obtained.
As an alternative embodiment, the context-dependent information specifically refers to whether the two fixed nodes are obstructed by an obstacle. Of course, other environmental related factors may also be represented by n.
In a preferred scheme, a is the signal strength of two beacon fixed nodes at a distance of one meter, n is an empirical value related to the environment (whether obstacles exist, etc.), and can be determined according to several different distances and RSSI values, and d represents the distance. When there is an obstacle, d is constant between the fixed node X1 and the fixed node X2, and RSSI1 when there is no clear change to RSSI2 when there is an obstacle, then a and n corresponding to when there is an obstacle can be obtained, and the distance of the mobile node can be calculated by using this value and the shielded mobile node RSSIx.
As an optional implementation manner, the method for obtaining the RSSI attenuation condition when the fixed node is shielded by the obstacle by using two or more bluetooth Beacon fixed nodes and measuring the RSSI values mutually under the condition that the fixed nodes are shielded by the obstacle and are not shielded by the obstacle respectively comprises the following steps:
under the condition that the fixed nodes are not shielded by the obstacles, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 1;
under the condition that the fixed nodes are shielded by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 2;
based on RSSI1, RSSI2, and the above equation: A. n is the same as the formula (I).
The invention solves the problem that the Bluetooth Beacon node can only roughly measure the distance, and the distance measurement resolution is improved to 0.1m from the common Beacon positioning precision of 1-3 m in the market.
The system for high-precision positioning of the wireless equipment provided by the embodiment of the invention comprises a Bluetooth Beacon wireless equipment and two or more Bluetooth Beacon fixed nodes, wherein:
the fixed nodes are used for respectively and mutually measuring RSSI values under the conditions that the fixed nodes are shielded by the obstacles and are not shielded by the obstacles so as to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacles;
the wireless equipment is used as a mobile node, and the RSSI after attenuation when the mobile node is shielded by an obstacle is measured after the mobile node meets the obstacle;
and the wireless equipment is further used for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the attenuation condition of the RSSI when the fixed node is shielded by the obstacle, and obtaining the accurate position of the wireless equipment according to the accurate distance.
According to the invention, RSSI values are measured mutually through two or more Bluetooth Beacon fixed nodes, and when a mobile node encounters an obstacle, the accurate distance corresponding to the RSSI after the mobile node is attenuated is calculated according to the RSSI attenuation and the fixed distance of the fixed node shielded by the obstacle.
As an optional implementation manner, the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically includes:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a predetermined distance (preferably 1 m);
n is a coefficient related to the environment;
d is the distance.
As an alternative embodiment, the context-dependent information specifically refers to whether the two fixed nodes are obstructed by an obstacle.
As an optional implementation manner, the method for obtaining the RSSI attenuation condition when the fixed node is shielded by the obstacle by using two or more bluetooth Beacon fixed nodes and measuring the RSSI values mutually under the condition that the fixed nodes are shielded by the obstacle and are not shielded by the obstacle respectively comprises the following steps:
under the condition that the fixed nodes are not shielded by the obstacles, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 1;
under the condition that the fixed nodes are shielded by an obstacle, measuring RSSI values of the two fixed nodes, and taking the RSSI values as RSSI 2;
based on RSSI1, RSSI2, and the above equation: A. n is the same as the formula (I).
In conclusion, the Bluetooth Beacon positioning method can greatly improve the Bluetooth Beacon positioning precision and provide reliable coordinates for indoor navigation and positioning.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (3)
1. A method for high accuracy positioning of a wireless device, comprising the steps of:
respectively and mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle through two or more Bluetooth Beacon fixed nodes to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle;
the method comprises the steps that wireless equipment is used as a mobile node, and after the mobile node meets an obstacle, the RSSI after attenuation is measured when the mobile node is shielded by the obstacle;
obtaining an accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle according to the attenuated RSSI and the situation that the RSSI is attenuated when the fixed node is shielded by the obstacle, and obtaining the accurate position of the wireless equipment;
the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically comprises the following steps:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a preset distance;
n is a coefficient related to the environment;
d is a distance;
the predetermined distance is 1 m;
the environment-dependent relation specifically refers to whether the two fixed nodes are shielded by an obstacle.
2. The method of claim 1, wherein the RSSI value is an average value of a plurality of measurements.
3. The utility model provides a system of wireless device high accuracy location, its characterized in that includes a bluetooth Beacon wireless device and two or more bluetooth Beacon fixed nodes, wherein:
the fixed nodes are used for mutually measuring RSSI values under the conditions that the fixed nodes are shielded by an obstacle and are not shielded by the obstacle, so as to obtain the RSSI attenuation condition when the fixed nodes are shielded by the obstacle;
the wireless equipment is used as a mobile node, and when the mobile node encounters an obstacle, the RSSI after attenuation when the mobile node is shielded by the obstacle is measured;
the wireless device is further configured to obtain an accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by an obstacle according to the attenuated RSSI and the situation that the RSSI is attenuated when the fixed node is shielded by the obstacle, and thus obtain an accurate position of the wireless device;
the method for obtaining the accurate distance corresponding to the attenuated RSSI when the mobile node is shielded by the obstacle specifically comprises the following steps:
calculating the accurate distance d corresponding to the RSSI after the mobile node is attenuated when being shielded by an obstacle according to the formula RSSI-A-n-lg (d), wherein:
a is the signal strength of two beacon fixed nodes at a preset distance;
n is a coefficient related to the environment;
d is a distance;
the predetermined distance is 1 m;
the environment-dependent relation specifically refers to whether the two fixed nodes are shielded by an obstacle.
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| CN108549071A (en) * | 2018-05-10 | 2018-09-18 | 四川斐讯信息技术有限公司 | A kind of space-location method and system based on wifi signal strengths |
| CN109688546A (en) * | 2018-11-27 | 2019-04-26 | 浙江工业大学 | A kind of Intelligent luggage carrier safety alarming method based on bluetooth 5.0 |
| CN112188405B (en) * | 2020-09-29 | 2021-07-13 | 武汉大学 | Safe distance sensing and tracing system and method based on smart phone |
| CN113296085B (en) * | 2021-05-21 | 2024-04-26 | 联合汽车电子有限公司 | Ultra-wideband ranging method, storage medium and system |
| CN113534050A (en) * | 2021-07-02 | 2021-10-22 | 山东三维海容科技有限公司 | Identification and positioning equipment and method for transmitted articles |
| CN113891298B (en) * | 2021-09-29 | 2024-02-27 | 安徽江淮汽车集团股份有限公司 | Bluetooth key positioning method for vehicle |
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