CN106842132A - Indoor orientation method, apparatus and system - Google Patents
Indoor orientation method, apparatus and system Download PDFInfo
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- CN106842132A CN106842132A CN201710067796.6A CN201710067796A CN106842132A CN 106842132 A CN106842132 A CN 106842132A CN 201710067796 A CN201710067796 A CN 201710067796A CN 106842132 A CN106842132 A CN 106842132A
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- positioner
- electronic tag
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of indoor orientation method, apparatus and system, methods described include：The multiple ultrasonic transmitters of triggering send ultrasonic signal to positioner；The ultrasonic signal is obtained from the ultrasonic transmitter to the transmission time of the positioner；Transmission time based on the ultrasonic signal calculates each ultrasonic transmitter to the actual range of the positioner respectively；Position coordinates based on each ultrasonic transmitter and to the positioner actual distance calculation described in positioner initial position co-ordinates；Centered on the initial position co-ordinates of the positioner, the information of each electronic tag in the scanning area with preset length as radius is read；Calculate the positioner to the distance of each electronic tag in the scanning area；And distance and the information of each electronic tag according to the positioner to each electronic tag, calculate the actual position coordinate of the positioner.
Description
Technical field
The present invention relates to indoor positioning technologies field, more particularly to a kind of indoor positioning based on ultrasonic wave and RFID technique
Method, apparatus and system.
Background technology
The indoor positioning technologies that prior art is provided, when Main Function is that the indoor mobile target of solution is positioned,
It is difficult to obtain the technical problem of accurate positional information.There is following limitation in such technical scheme：(1) for large-scale
Room area just can guarantee that enough degrees of accuracy, it is necessary to rely on more ultrasonic transmitter and carry out positioning, but increase ultrasonic wave
The quantity of transmitter can undoubtedly increase cost；(2) indoor environment is complex, the structure of building, layout and artificial limitation
The influence of factor, merely can bring certain error using ultrasonic wave location technology.Namely existing indoor positioning technologies side
Case can not simultaneously take into account problem that is cost-effective and providing positioning precision.
The content of the invention
In view of the foregoing, it is necessary to which a kind of indoor orientation method, apparatus and system are provided, can simultaneously take into account and save into
Sheet and raising two aspects of indoor position accuracy.
A kind of indoor locating system, including multiple ultrasonic transmitters, multiple electronic tags, at least one positioner,
Wherein：
The multiple ultrasonic transmitter, is distributed in each corner of interior, to obtain the initial bit of the positioner
Put coordinate；
The multiple electronic tag, be distributed according to default arrangement mode it is throughout the room, to correct the positioner
Initial position co-ordinates；
The positioner, multiple ultrasonic transmitters is triggered according to prefixed time interval and is sent out to the positioner successively
Send ultrasonic signal；The ultrasonic signal is obtained from the ultrasonic transmitter to the transmission time of the positioner；Base
Each ultrasonic transmitter to the actual range of the positioner is calculated respectively in the transmission time of the ultrasonic signal；Base
Positioner described in position coordinates in each ultrasonic transmitter and the actual distance calculation to the positioner
Initial position co-ordinates；Centered on the initial position co-ordinates of the positioner, it is the scanning area of radius to read preset length
The information of interior each electronic tag；Calculate the positioner to the distance of each electronic tag in the scanning area；And according to
The positioner calculates the positioner to the distance of each electronic tag and the information of each electronic tag
Actual position coordinate.
In one embodiment of the invention, the ultrasonic transmitter is four, distribution four corners indoors and
In sustained height, the multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
A kind of positioner, the positioner includes：
RF signal transmitter, penetrating for different frequency is sent according to prefixed time interval to multiple ultrasonic transmitters successively
Frequency signal, ultrasonic signal, the multiple ultrasonic wave transmitting are sent to trigger the ultrasonic transmitter to the positioner
Device distribution each corner indoors；
Timer, obtains the ultrasonic signal from ultrasonic transmitter to the transmission time of the positioner；
Arithmetic unit, the transmission time based on the ultrasonic signal calculates each ultrasonic transmitter to the positioning respectively
The actual range of device；
The arithmetic unit, position coordinates based on each ultrasonic transmitter and to the positioner it is actual away from
From the initial position co-ordinates for calculating the positioner；
RFID card reader, centered on the initial position co-ordinates of the positioner, reads with preset length as radius
The information of each electronic tag in scanning area, the electronic tag is distributed in throughout the room according to default arrangement mode；
The arithmetic unit, calculates the positioner to the distance of each electronic tag in the scanning area；And
The arithmetic unit, distance and each electronic tag according to the positioner to each electronic tag
Information, calculates the actual position coordinate of the positioner；
The RF signal transmitter, timer, arithmetic unit, RFID card reader are attached by bus and information is passed
It is defeated.
In one embodiment of the invention, the time interval meets ultrasonic signal of the positioner completion
Reception.
In one embodiment of the invention, radiofrequency launcher described in the timer record sends each of radiofrequency signal
Moment.
In one embodiment of the invention, the transmission time of the ultrasonic signal refers to：The positioner is from hair
Send radiofrequency signal to the time difference of received ultrasonic signal.
In one embodiment of the invention, the information of the electronic tag that the RFID card reader reads includes each electricity
The position coordinates and its received signal strength RSSI value of subtab.
In one embodiment of the invention, the arithmetic unit utilizes the RSSI value and path loss of the electronic tag
Relation and logarithm calculate the positioner to the distance of each electronic tag in the scanning area apart from loss model.
In one embodiment of the invention, the ultrasonic transmitter is four, is distributed four corners and place indoors
In sustained height；The multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
A kind of indoor orientation method, applies including multiple ultrasonic transmitters, multiple electronic tags, at least one positioning
In the indoor locating system of device, methods described includes：
The multiple ultrasonic transmitters of triggering send ultrasonic signal to positioner, and multiple ultrasonic transmitters are distributed in room
In interior each corner；
The ultrasonic signal is obtained from the ultrasonic transmitter to the transmission time of the positioner；
Transmission time based on the ultrasonic signal calculates each ultrasonic transmitter to the positioner respectively
Actual range；
Position coordinates based on each ultrasonic transmitter and to the positioner actual distance calculation described in
The initial position co-ordinates of positioner；
Centered on the initial position co-ordinates of the positioner, read in the scanning area with preset length as radius
The information of each electronic tag, the electronic tag is distributed in throughout the room according to default arrangement mode；
Calculate the positioner to the distance of each electronic tag in the scanning area；And
The information of distance and each electronic tag according to the positioner to each electronic tag, calculates institute
State the actual position coordinate of positioner.
In one embodiment of the invention, methods described also includes：
The positioner sends the radio frequency of different frequency according to prefixed time interval to each ultrasonic transmitter successively
Signal, the time interval meets the positioner and completes a reception for ultrasonic signal.
In one embodiment of the invention, methods described also includes：
Record each moment that the positioner sends radiofrequency signal.
In one embodiment of the invention, the transmission time of the ultrasonic signal refers to：The positioner is from hair
Send radiofrequency signal to the time difference of received ultrasonic signal.
In one embodiment of the invention, the information of each electronic tag in the scanning area of the reading is specifically wrapped
Include：The position coordinates and its received signal strength RSSI value of the electronic tag.
In one embodiment of the invention, it is described to calculate the positioner to each electronic tag in the scanning area
Distance specifically include：
Swept apart from described in loss model calculating with the relation of path loss and logarithm using the RSSI value of the electronic tag
Retouch distance of each electronic tag to the positioner in region.
In one embodiment of the invention, the ultrasonic transmitter is four, is distributed four corners and place indoors
In sustained height；The multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
Indoor orientation method, apparatus and system that the present invention is provided, obtain according to indoor four ultrasonic transmitters first
The initial position co-ordinates of user, secondly centered on the initial position co-ordinates, read the information of the electronic tag in a region,
The actual position coordinate of user is obtained based on the RFID location technologies again.By using two kinds of location technologies, effectively improve
The precision of indoor positioning, and due to the negligible amounts of ultrasonic transmitter for using, and electronic tag price advantage, therefore
Also save cost.
Brief description of the drawings
Fig. 1 is the schematic diagram of the indoor locating system that the embodiment of the present invention one is provided；
Fig. 2 is the schematic diagram of scanning area provided in an embodiment of the present invention；
Fig. 3 is the structural representation of the positioner that the embodiment of the present invention two is provided；
Fig. 4 is the flow chart of the indoor orientation method that the embodiment of the present invention three is provided.
Main element symbol description
| Positioner | 10 |
| Electronic tag | 12 |
| Ultrasonic transmitter | 11 |
| RF signal transmitter | 100 |
| Arithmetic unit | 102 |
| Memory | 103 |
| Timer | 104 |
| RFID card reader | 106 |
| Indoor locating system | 1 |
| Receiver | 101 |
| Display | 105 |
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
Embodiment one
As shown in figure 1, being the schematic diagram of the indoor locating system that the embodiment of the present invention one is provided.
Shown indoor locating system 1 includes multiple ultrasonic transmitters 11, multiple RFID passive electronic labels 12, positioning dress
Put 10.
The quantity of the ultrasonic transmitter 11 is reference can meet the coordinate of positioning user, in the embodiment of the present invention, institute
Ultrasonic transmitter 11 is stated for four, in distribution four corners indoors, to obtain the initial position co-ordinates of user.
In one embodiment of the invention, four ultrasonic transmitters 11 are in indoor sustained height.
The multiple RFID passive electronic labels 12 (hereinafter referred electronic tag 12) are distributed according to default arrangement mode
Indoors everywhere, it is therefore an objective to which the position for being based on the user that the ultrasonic transmitter 11 is obtained based on the amendment of RFID positioning methods is sat
Mark, improves the accuracy of positioning.
In one embodiment of the invention, the multiple electronic tag 12 is distributed in room according to the arrangement mode of adjacent 2m
Inside everywhere.
The positioner 10, is handheld terminal of the user as indoor positioning.The positioner 10 can be any
A kind of electronic product that man-machine interaction can be carried out with user, for example, personal computer, panel computer, smart mobile phone, individual digital
Assistant (Personal Digital Assistant, PDA), game machine, IPTV (Internet Protocol
Television, IPTV), intellectual Wearable etc..Network residing for the intelligent terminal include but is not limited to internet,
Wide area network, Metropolitan Area Network (MAN), LAN, VPN (Virtual Private Network, VPN) etc..
Described positioner 10, coordinates above-mentioned multiple ultrasonic transmitters 11, multiple electronic tags 12 to realize essence
True indoor positioning.Specifically include：The positioner 10 launches radiofrequency signal to each ultrasonic wave according to intervals
Transmitter 11, ultrasonic signal is launched to trigger the ultrasonic transmitter 11 to the positioner 10；The positioner
10 receive the ultrasonic signal；The positioner 10 obtains the transmission time of the ultrasonic signal；Based on the ultrasound
The transmission time of ripple signal calculates each ultrasonic transmitter to the actual range of the positioner respectively；Based on it is described each
The position coordinates of ultrasonic transmitter and to the positioner actual distance calculation described in positioner initial position sit
Mark；Centered on the initial position co-ordinates of the positioner, each electricity in the scanning area with preset length as radius is read
The information of subtab 12；Calculate the positioner to the distance of each electronic tag 12 in the scanning area；And according to described
Positioner calculates the positioner 10 to the distance of each electronic tag 12 and the information of each electronic tag 12
Actual position coordinate.
Its actual position coordinate can be shown to user and checked by the positioner 10, and the actual position coordinate is user
Position coordinates.
The structure of the positioner 10 refer to Fig. 3.
Embodiment two
It is the structural representation of the positioner that the embodiment of the present invention two is provided with reference to shown in Fig. 3.
The positioner 10 at least includes elements below：RF signal transmitter 100, arithmetic unit 102, timer 104,
RFID card reader 106, memory 103, and receiver 101, display 105.
Each element is attached and is communicated by system bus.
The RF signal transmitter 100 sends not to four ultrasonic transmitters 11 successively according to certain time interval
The radiofrequency signal of same frequency sends ultrasonic signal to trigger the ultrasonic transmitter 11 to the positioner 10.
The timer 104 will record each moment of the transmission radiofrequency signal simultaneously.
In one embodiment of the invention, when the RF signal transmitter 100 send radiofrequency signal when, it is adjacent twice
The transmission time interval of radiofrequency signal is sufficiently large, to ensure after the positioner 10 completes to receive a ultrasonic signal
Just radiofrequency signal is sent to next ultrasonic transmitter.For example, when the RF signal transmitter 100 is sent out to the first ultrasonic wave
After emitter 11 sends radiofrequency signal, first ultrasonic transmitter 11 sends ultrasonic wave under triggering to the positioner 10
Signal, after the positioner 10 finishes receiving the ultrasonic signal, the RF signal transmitter 100 is again to the second surpassing
Pinger sends radiofrequency signal.
The ultrasonic transmitter 11 sends ultrasonic wave under the triggering of the radiofrequency signal to the positioner 10 to be believed
Number, when the receiver 101 of the positioner 10 receives institute's ultrasonic signal, the timer 104 obtains the positioning
Device 10 is from transmission radiofrequency signal to the time difference for receiving the ultrasonic signal.Because the spread speed of radiofrequency signal is approached
In the light velocity, and the speed of ultrasonic wave is about 341m/s, it is clear that the far smaller than light velocity, and the transmission time of the radiofrequency signal can be neglected
Slightly disregard, that is, the time difference that the timer 104 is obtained can be considered as the ultrasonic signal from the ultrasonic transmitter
11 transmission times for arriving the positioner 10.
The transmission time that the arithmetic unit 102 is based on the ultrasonic signal calculates four ultrasonic transmitters to institute respectively
State the actual range between positioner 10.
The arithmetic unit 102 is based on the actual range between four ultrasonic transmitters 11 to the positioner 10 and often
The position coordinates of individual ultrasonic transmitter 11, calculates the initial position co-ordinates of the positioner 10.
In one embodiment of the invention, as shown in figure 1, under the same coordinate system, four ultrasonic transmitters
11 position coordinates can be expressed as (x1, y1), (x2, y2), (x3, y3), (x4, y4)；L can be used1, l2, l3, l4To distinguish
Represent each ultrasonic transmitter 11 to the actual range of the positioner 10.So, the initial bit of the positioner 10
Put coordinate and meet equation below group：
(x0-x1)2+(y0-y1)2=l1 2 (1)
(x0-x2)2+(y0-y2)2=l2 2 (2)
(x0-x3)2+(y0-y3)2=l3 2 (3)
(x0-x4)2+(y0-y4)2=l4 2 (4)
By the calculating to above-mentioned equation group, the initial position co-ordinates (x of the positioner 10 can be obtained0, y0)。
After the initial position co-ordinates for getting the positioner 10, RFID card reader 106 is read with the positioning
Initial position co-ordinates (the x of device 100, y0) centered on, the electronic tag in a border circular areas with preset length as radius
Information.The border circular areas can be referred to as scanning area, refer to shown in Fig. 2, be the schematic diagram of the scanning area.In figure
In 2, the center of the scanning area is the initial position of the above-mentioned positioner obtained according to ultrasonic signal positioning
Coordinate (x0, y0).The information of the electronic tag includes, the position coordinates of each electronic tag in the scanning area and its
Received signal strength RSSI value.
The arithmetic unit 102 calculates the positioner 10 to the distance of each electronic tag 12 in the scanning area.
In one embodiment of the invention, the arithmetic unit 102 calculates the scanning using logarithm apart from loss model
Distance of each electronic tag 12 to the positioner 10 in region.
The logarithm apart from loss model be one kind for prediction signal indoors or under dense crowd's environment along one
Increase the propagation model of average attenuation degree under particular path with distance, specific formula is：
PL(d)=PL(d0)+10n lg(d/d0)+Xσ (5)
Wherein, d is the distance between electronic tag to the positioner 10, d0It is reference distance, usual value is 1m；
N is path loss index, is related to one's environment, and value is 1.5 in the present embodiment；XσIt is that average is 0, standard deviation is σ's
Gaussian distributed random variable, value is 11.8 in the present embodiment；PL(d0) expression reference distance be d0When path loss, PL
D () represents the path loss after apart from d.
The received signal strength RSSI value of the electronic tag is with the relation of path loss：
RSSI=Pt-PL(d) (6)
Wherein, PtThe power of RFID card reader 106 is represented, is known quantity.
Each electronic tag 12 to the actual range between the positioner 10 can be obtained using formula (5) and (6)
d。
The arithmetic unit 102, according to the distance and each electricity of the positioner 10 to each electronic tag 12
The information of subtab 12, calculates the actual position coordinate of the positioner 10.
In one embodiment of the invention, electronic tag quantity is i in the scanning area, then each electronic tag is to institute
The actual range stated between positioner is：
Wherein, (mi, ni) it is i-th position coordinates of electronic tag, d in the scanning areaiIt is i-th electronic tag
The distance between to the positioner, it is calculated via formula (5) and (6), by calculating above-mentioned equation group, finally
Can obtain the actual position coordinate (x of the positioner 10p, yp)。
Actual position coordinate (the x of the positioner is calculated in the arithmetic unit 102p, yp) after, in the positioning dress
User is shown on the display 105 for putting 10 to check.
The memory 103 can be high-speed RAM memory, or nonvolatile memory (non-volatile
Memory), for example, at least one magnetic disk storage.Stored in the memory 13 obtain in above-mentioned each element operation, calculate and
The data for using.
The embodiment of the present invention obtains the initial position co-ordinates of user according to indoor four ultrasonic transmitters first, secondly with
Centered on the initial position co-ordinates, the information of the electronic tag in a region is read, then obtained based on the RFID location technologies
Take the actual position coordinate at family.By using two kinds of location technologies, the precision of indoor positioning is effectively improved, and due to adopting
The negligible amounts of ultrasonic transmitter, and electronic tag price advantage, therefore also save cost.
Embodiment three
As shown in figure 4, being the flow chart of the indoor orientation method of the embodiment of the present invention three, the method is applied in the positioning
In device 10, to position the exact position of user in the indoor locating system 1.According to different demands, in the flow chart
The order of step can change, and some steps can be omitted.
S10, the multiple ultrasonic transmitters of triggering send ultrasonic signal to positioner.
The multiple ultrasonic transmitter 11 is distributed in each corner indoors, is sat with the initial position for obtaining user
Mark, the quantity of the ultrasonic transmitter 11 is reference can meet the coordinate of positioning user.
In one embodiment of the invention, the ultrasonic transmitter is four, in distribution four corners indoors,
And in indoor sustained height.
The positioner 10 at least includes RF signal transmitter 100, RFID card reader 106, timer 104, computing
Device 102 etc..
The positioner 10 is the handheld terminal that user is used as indoor positioning.The RF signal transmitter 100 according to
The radiofrequency signal that intervals send different frequency to four ultrasonic transmitters 11 successively is sent out with triggering the ultrasonic wave
Emitter 11 sends ultrasonic signal to the positioner 10.
In one embodiment of the invention, when the RF signal transmitter 100 send radiofrequency signal when, it is adjacent twice
The transmission time interval of radiofrequency signal is sufficiently large, to ensure after the positioner 10 completes to receive a ultrasonic signal
Just radiofrequency signal is sent to next ultrasonic transmitter.For example, when the RF signal transmitter 100 is sent out to the first ultrasonic wave
After emitter 11 sends radiofrequency signal, first ultrasonic transmitter 11 sends ultrasonic wave under triggering to the positioner 10
Signal, after the positioner 10 finishes receiving the ultrasonic signal, the RF signal transmitter 100 is again to the second surpassing
Pinger sends radiofrequency signal.
S20, obtains the ultrasonic signal from the ultrasonic transmitter to the transmission time of the positioner.
When the RF signal transmitter 100 sends radiofrequency signal to the ultrasonic transmitter 11, the timer
104 each moment that will record the transmission radiofrequency signal.
The ultrasonic transmitter 11 sends ultrasonic wave under the triggering of the radiofrequency signal to the positioner 10 to be believed
Number, when the positioner 10 receives institute's ultrasonic signal, the timer 104 obtains the positioner 10 from transmission
Radiofrequency signal is to the time difference for receiving the ultrasonic signal.Because the spread speed of radiofrequency signal is close to the light velocity, and surpass
The speed of sound wave is about 341m/s, it is clear that the far smaller than light velocity, and the transmission time of the radiofrequency signal can be ignored,
That is, the time difference that the timer 104 is obtained can be considered as the ultrasonic signal from the ultrasonic transmitter 11 to described
The transmission time of positioner 10.
S30, the transmission time based on the ultrasonic signal calculates multiple ultrasonic transmitters to the positioning dress respectively
The actual range put.
Four ultrasonic transmitters can use l to the actual range of the positioner1, l2, l3, l4To represent, known
The speed and ultrasonic signal of ultrasonic signal are from the ultrasonic transmitter to the situation of the transmission time of the positioner
Under, formula can be used：I=v × t is calculated four distances.
S40, the position coordinates based on each ultrasonic transmitter and the actual distance calculation to the positioner
The initial position co-ordinates of the positioner.
In one embodiment of the invention, as shown in figure 1, under the same coordinate system, four ultrasonic transmitters
11 position coordinates can be expressed as (x1, y1), (x2, y2), (x3, y3), (x4, y4)；L can be used1, l2, l3, l4To distinguish
Represent each ultrasonic transmitter 11 to the actual range of the positioner 10.So, the initial bit of the positioner 10
Put coordinate and meet equation below group：
(x0-x1)2+(y0-y1)2=l1 2 (1)
(x0-x2)2+(y0-y2)2=l2 2 (2)
(x0-x3)2+(y0-y3)2=l3 2 (3)
(x0-x4)2+(y0-y4)2=l4 2 (4)
By the calculating to above-mentioned equation group, the initial position co-ordinates (x of the positioner 10 can be obtained0, y0)。
S50, centered on the initial position co-ordinates of the positioner, reads the scanning area with preset length as radius
The information of interior electronic tag.
The electronic tag 12 is distributed in throughout the room according to default arrangement mode, it is therefore an objective to based on RFID positioning methods
The position coordinates of the user that amendment is obtained based on the ultrasonic transmitter 11, improves the accuracy of positioning.Of the invention one
In individual embodiment, the multiple electronic tag 12 is distributed in throughout the room according to the arrangement mode of adjacent 2m.
The scanning area is a border circular areas, refer to shown in Fig. 2, is the schematic diagram of the scanning area.
In Fig. 2, the center of the scanning area is the initial bit of the above-mentioned positioner obtained according to ultrasonic signal positioning
Put coordinate (x0, y0), the radius of the scanning area can be preset, at one of the invention according to indoor actual conditions
In embodiment, the pre-set radius are 2.5m.The information of the electronic tag includes, each the electronics mark in the scanning area
The position coordinates and its received signal strength RSSI value of label.
In this step, can be RFID card reader 106 read scanning area in each electronic tag position coordinates and
The RSSI value of each electronic tag received signal strength.
S60, calculates the positioner to the distance of each electronic tag in the scanning area.
In one embodiment of the invention, the arithmetic unit 102 calculates the scanning using logarithm apart from loss model
Distance of each electronic tag 12 to the positioner 10 in region.
The logarithm apart from loss model be one kind for prediction signal indoors or under dense crowd's environment along one
Increase the propagation model of average attenuation degree under particular path with distance, specific formula is：
PL(d)=PL(d0)+10n lg(d/d0)+Xσ (5)
Wherein, d is the distance between electronic tag to the positioner 10, d0It is reference distance, usual value is 1m；
N is path loss index, is related to one's environment, and value is 1.5 in the present embodiment；XσIt is that average is 0, standard deviation is σ's
Gaussian distributed random variable, value is 11.8 in the present embodiment；PL(d0) expression reference distance be d0When path loss, PL
D () represents the path loss after apart from d.
The received signal strength RSSI value of the electronic tag is with the relation of path loss：
RSSI=Pt-PL(d) (6)
Wherein, PtThe power of RFID card reader 106 is represented, is known quantity.
Each electronic tag 12 to the actual range between the positioner 10 can be obtained using formula (5) and (6)
d。
S70, the information of distance and each electronic tag according to the positioner to each electronic tag, meter
Calculate the actual position coordinate of the positioner.
The arithmetic unit 102, according to the distance and each electricity of the positioner 10 to each electronic tag 12
The information of subtab 12, calculates the actual position coordinate of the positioner 10.
In one embodiment of the invention, electronic tag quantity is i in the scanning area, then each electronic tag is to institute
The actual range stated between positioner is：
Wherein, (mi, ni) it is i-th position coordinates of electronic tag, d in the scanning areaiIt is i-th electronic tag
The distance between to the positioner, it is calculated via formula (5) and (6), by calculating above-mentioned equation group, finally
Can obtain the actual position coordinate (m of the positioner 10i, ni)。
In one embodiment of the invention, the physical location for calculating the positioner in the arithmetic unit 102 is sat
Mark (xp, yp) after, on the display of the positioner 10 being shown to user checks.
The embodiment of the present invention obtains the initial position co-ordinates of user according to indoor four ultrasonic transmitters first, secondly with
Centered on the initial position co-ordinates, the information of the electronic tag in a region is read, then obtained based on the RFID location technologies
Take the actual position coordinate at family.By using two kinds of location technologies, the precision of indoor positioning is effectively improved, and due to adopting
The negligible amounts of ultrasonic transmitter, and electronic tag price advantage, therefore also save cost.
In several embodiments provided by the present invention, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.The right that any attached associated diagram mark in claim should not be considered as involved by limitation will
Ask.Furthermore, it is to be understood that " including " word is not excluded for other units or step, odd number is not excluded for plural number.Stated in system claims
Multiple modules or device can also be realized by software or hardware by a module or device.The first, the second grade word
For representing title, and it is not offered as any specific order.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
Preferred embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to of the invention
Technical scheme is modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention.
Claims (16)
1. a kind of indoor locating system, it is characterised in that the system includes multiple ultrasonic transmitters, multiple electronic tags,
At least one positioner, wherein：
The multiple ultrasonic transmitter, is distributed in each corner of interior, is sat with the initial position for obtaining the positioner
Mark；
The multiple electronic tag, be distributed according to default arrangement mode it is throughout the room, to correct the initial of the positioner
Position coordinates；
The positioner, multiple ultrasonic transmitters is triggered according to prefixed time interval and sends super to the positioner successively
Acoustic signals；The ultrasonic signal is obtained from the ultrasonic transmitter to the transmission time of the positioner；Based on institute
The transmission time for stating ultrasonic signal calculates each ultrasonic transmitter to the actual range of the positioner respectively；Based on institute
State each ultrasonic transmitter position coordinates and to the positioner actual distance calculation described in positioner it is initial
Position coordinates；Centered on the initial position co-ordinates of the positioner, preset length is read in the scanning area of radius
The information of each electronic tag；Calculate the positioner to the distance of each electronic tag in the scanning area；And according to described
Positioner calculates the reality of the positioner to the distance of each electronic tag and the information of each electronic tag
Position coordinates.
2. indoor locating system as claimed in claim 1, it is characterised in that the ultrasonic transmitter is four, is distributed in
Indoor four corners and in sustained height；
The multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
3. a kind of positioner, it is characterised in that the positioner includes：
RF signal transmitter, the radio frequency for sending different frequency to multiple ultrasonic transmitters successively according to prefixed time interval is believed
Number, send ultrasonic signal, the multiple ultrasonic transmitter point to the positioner to trigger the ultrasonic transmitter
Cloth each corner indoors；
Timer, obtains the ultrasonic signal from ultrasonic transmitter to the transmission time of the positioner；
Arithmetic unit, the transmission time based on the ultrasonic signal calculates each ultrasonic transmitter to the positioner respectively
Actual range；
The arithmetic unit, the position coordinates based on each ultrasonic transmitter and the actual range meter to the positioner
Calculate the initial position co-ordinates of the positioner；
RFID card reader, centered on the initial position co-ordinates of the positioner, reads the scanning with preset length as radius
The information of each electronic tag in region, the electronic tag is distributed in throughout the room according to default arrangement mode；
The arithmetic unit, calculates the positioner to the distance of each electronic tag in the scanning area；And
The arithmetic unit, the letter of distance and each electronic tag according to the positioner to each electronic tag
Breath, calculates the actual position coordinate of the positioner；
The RF signal transmitter, timer, arithmetic unit, RFID card reader are attached and information transfer by bus.
4. positioner as claimed in claim 3, it is characterised in that the time interval meets the positioner and completes
The reception of secondary ultrasonic signal.
5. positioner as claimed in claim 4, it is characterised in that radiofrequency launcher described in the timer record sends and penetrates
Each moment of frequency signal.
6. positioner as claimed in claim 3, it is characterised in that the transmission time of the ultrasonic signal refers to：It is described
Time difference of the positioner from transmission radiofrequency signal to received ultrasonic signal.
7. positioner as claimed in claim 3, it is characterised in that the electronic tag that the RFID card reader reads
Information includes the position coordinates and its received signal strength RSSI value of each electronic tag.
8. positioner as claimed in claim 3, it is characterised in that the arithmetic unit using the electronic tag RSSI value
Relation and logarithm with path loss calculate the positioner to each electronic tag in the scanning area apart from loss model
Distance.
9. the positioner as described in claim any one of 3-8, it is characterised in that the ultrasonic transmitter is four, point
Cloth four corners and in sustained height indoors；
The multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
10. a kind of indoor orientation method, applies including multiple ultrasonic transmitters, multiple electronic tags, at least one positioning
In the indoor locating system of device, it is characterised in that methods described includes：
The multiple ultrasonic transmitters of triggering send ultrasonic signal to positioner, and multiple ultrasonic transmitter distributions are each indoors
In individual corner；
The ultrasonic signal is obtained from the ultrasonic transmitter to the transmission time of the positioner；
Transmission time based on the ultrasonic signal calculates each ultrasonic transmitter to the reality of the positioner respectively
Distance；
Position coordinates based on each ultrasonic transmitter and to the positioner actual distance calculation described in position
The initial position co-ordinates of device；
Centered on the initial position co-ordinates of the positioner, each electricity in the scanning area with preset length as radius is read
The information of subtab, the electronic tag is distributed in throughout the room according to default arrangement mode；
Calculate the positioner to the distance of each electronic tag in the scanning area；And
The information of distance and each electronic tag according to the positioner to each electronic tag, it is described fixed to calculate
The actual position coordinate of position device.
11. methods as claimed in claim 10, it is characterised in that methods described also includes：
The positioner sends the radiofrequency signal of different frequency according to prefixed time interval to each ultrasonic transmitter successively,
The time interval meets the positioner and completes a reception for ultrasonic signal.
12. methods as claimed in claim 11, it is characterised in that methods described also includes：
Record each moment that the positioner sends radiofrequency signal.
13. methods as claimed in claim 10, it is characterised in that the transmission time of the ultrasonic signal refers to：It is described fixed
Time difference of the position device from transmission radiofrequency signal to received ultrasonic signal.
14. methods as claimed in claim 10, it is characterised in that the letter of each electronic tag in the scanning area of the reading
Breath is specifically included：The position coordinates and its received signal strength RSSI value of the electronic tag.
15. methods as claimed in claim 10, it is characterised in that in the calculating positioner to the scanning area
The distance of each electronic tag is specifically included：
Using the RSSI value of the electronic tag and the relation of path loss and logarithm the scanning area is calculated apart from loss model
Distance of each electronic tag to the positioner in domain.
16. method as described in claim any one of 10-15, it is characterised in that the ultrasonic transmitter is four, distribution
Four corners and in sustained height indoors；
The multiple electronic tag is distributed in throughout the room according to the arrangement mode of adjacent 2m.
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| CN106842132B (en) | 2020-08-14 |
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