CN106842132B - Indoor positioning method, device and system - Google Patents
Indoor positioning method, device and system Download PDFInfo
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- CN106842132B CN106842132B CN201710067796.6A CN201710067796A CN106842132B CN 106842132 B CN106842132 B CN 106842132B CN 201710067796 A CN201710067796 A CN 201710067796A CN 106842132 B CN106842132 B CN 106842132B
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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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Abstract
An indoor positioning method, device and system, the method comprises: triggering a plurality of ultrasonic transmitters to send ultrasonic signals to a positioning device; acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device; respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal; calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device; reading the information of each electronic tag in a scanning area with a preset length as a radius by taking the initial position coordinate of the positioning device as a center; calculating the distance from the positioning device to each electronic tag in the scanning area; and calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method, device and system based on ultrasonic wave and RFID technology.
Background
The indoor positioning technology provided by the prior art mainly aims to solve the technical problem that accurate position information is difficult to acquire when an indoor moving target is positioned. Such a solution has the following limitations: (1) for a large indoor area, more ultrasonic transmitters are needed for positioning to ensure sufficient accuracy, but increasing the number of the ultrasonic transmitters undoubtedly increases the cost; (2) the indoor environment is relatively complex, the structure, the layout and the influence of artificial limiting factors of a building are influenced, and certain errors can be caused by simply utilizing the ultrasonic positioning technology. That is, the existing indoor positioning technical scheme can not simultaneously consider the problems of saving cost and providing positioning precision.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an indoor positioning method, device and system, which can simultaneously achieve the cost saving and the improvement of the indoor positioning accuracy.
An indoor positioning system, comprising a plurality of ultrasonic transmitters, a plurality of electronic tags, at least one positioning device, wherein:
the ultrasonic transmitters are distributed at each indoor corner so as to acquire the initial position coordinates of the positioning device;
the electronic tags are distributed at each position in the room according to a preset arrangement mode so as to correct the initial position coordinates of the positioning device;
the positioning device sequentially triggers the ultrasonic transmitters to send ultrasonic signals to the positioning device according to a preset time interval; acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device; respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal; calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device; reading the information of each electronic tag in a scanning area with the preset length as the radius by taking the initial position coordinate of the positioning device as the center; calculating the distance from the positioning device to each electronic tag in the scanning area; and calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
In one embodiment of the present invention, the number of the ultrasonic transmitters is four, the ultrasonic transmitters are distributed at four corners of the room and at the same height, and the plurality of electronic tags are distributed around the room in an adjacent 2m arrangement.
A positioning device, the positioning device comprising:
the radio frequency signal emitter sequentially sends radio frequency signals with different frequencies to the ultrasonic emitters according to a preset time interval so as to trigger the ultrasonic emitters to send ultrasonic signals to the positioning device, and the ultrasonic emitters are distributed at each corner of the room;
the timer is used for acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device;
an arithmetic unit which respectively calculates the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal;
the arithmetic unit is used for calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance from the positioning device;
the RFID card reader takes the initial position coordinate of the positioning device as a center, reads the information of each electronic tag in a scanning area taking the preset length as the radius, and the electronic tags are distributed at each position indoors according to a preset arrangement mode;
the arithmetic unit is used for calculating the distance from the positioning device to each electronic tag in the scanning area; and
the arithmetic unit is used for calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag;
the radio frequency signal emitter, the timer, the arithmetic unit and the RFID card reader are connected and transmit information through a bus.
In one embodiment of the invention, the time interval is such that the positioning device completes reception of an ultrasonic signal.
In one embodiment of the invention, the timer records each time the radio frequency transmitter transmits a radio frequency signal.
In one embodiment of the present invention, the transmission time of the ultrasonic signal refers to: the time difference between the sending of the radio frequency signal and the receiving of the ultrasonic signal by the positioning device.
In an embodiment of the present invention, the information of the electronic tags read by the RFID reader includes position coordinates of each electronic tag and a received signal strength RSSI value thereof.
In one embodiment of the present invention, the arithmetic unit calculates the distance from the positioning device to each electronic tag in the scanning area by using the relationship between the RSSI value and the path loss of the electronic tag and a logarithmic distance loss model.
In one embodiment of the invention, the number of the ultrasonic transmitters is four, the ultrasonic transmitters are distributed at four corners in a room and are positioned at the same height; the plurality of electronic tags are distributed at any position in a mode of adjacent 2 m.
An indoor positioning method applied to an indoor positioning system comprising a plurality of ultrasonic transmitters, a plurality of electronic tags and at least one positioning device, the method comprising the following steps:
triggering a plurality of ultrasonic transmitters to send ultrasonic signals to the positioning device, wherein the plurality of ultrasonic transmitters are distributed in each corner of the room;
acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device;
respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal;
calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device;
reading the information of each electronic tag in a scanning area with a preset length as a radius by taking the initial position coordinate of the positioning device as a center, wherein the electronic tags are distributed at each position indoors according to a preset arrangement mode;
calculating the distance from the positioning device to each electronic tag in the scanning area; and
and calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
In one embodiment of the invention, the method further comprises:
the positioning device sequentially sends radio-frequency signals with different frequencies to each ultrasonic transmitter according to a preset time interval, and the time interval meets the condition that the positioning device finishes receiving the ultrasonic signals once.
In one embodiment of the invention, the method further comprises:
and recording each moment when the positioning device transmits the radio frequency signal.
In one embodiment of the present invention, the transmission time of the ultrasonic signal refers to: the time difference between the sending of the radio frequency signal and the receiving of the ultrasonic signal by the positioning device.
In an embodiment of the present invention, the information of each electronic tag in the read scanning area specifically includes: and the position coordinates of the electronic tag and the received signal strength RSSI value of the electronic tag.
In an embodiment of the present invention, the calculating the distance from the positioning device to each electronic tag in the scanning area specifically includes:
and calculating the distance from each electronic tag to the positioning device in the scanning area by utilizing the relationship between the RSSI value and the path loss of the electronic tag and a logarithmic distance loss model.
In one embodiment of the invention, the number of the ultrasonic transmitters is four, the ultrasonic transmitters are distributed at four corners in a room and are positioned at the same height; the plurality of electronic tags are distributed at any position in a mode of adjacent 2 m.
According to the indoor positioning method, the indoor positioning device and the indoor positioning system, the initial position coordinates of a user are obtained according to four indoor ultrasonic transmitters, then the information of the electronic tags in an area is read by taking the initial position coordinates as the center, and the actual position coordinates of the user are obtained based on the RFID positioning technology. By applying two positioning technologies, the indoor positioning precision is effectively improved, and the cost is saved due to the fact that the number of the adopted ultrasonic transmitters is small and the price advantage of the electronic tag is achieved.
Drawings
Fig. 1 is a schematic diagram of an indoor positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a scanning area provided by an embodiment of the invention;
fig. 3 is a schematic structural diagram of a positioning device according to a second embodiment of the present invention;
fig. 4 is a flowchart of an indoor positioning method according to a third embodiment of the present invention.
Description of the main elements
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10 |
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12 |
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11 |
| Radio |
100 |
| Arithmetic unit | 102 |
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103 |
| Time- |
104 |
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106 |
| Indoor positioning system | 1 |
| Receiver with a plurality of receivers | 101 |
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105 |
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example one
Fig. 1 is a schematic view of an indoor positioning system according to an embodiment of the present invention.
The indoor positioning system 1 shown comprises a plurality of ultrasonic transmitters 11, a plurality of RFID passive electronic tags 12, and a positioning device 10.
The number of the ultrasonic transmitters 11 is based on the coordinates which can satisfy the positioning of the user, and in the embodiment of the present invention, the number of the ultrasonic transmitters 11 is four, and the ultrasonic transmitters are distributed in four corners of a room to obtain the initial position coordinates of the user.
In one embodiment of the invention, the four ultrasonic transmitters 11 are at the same height in the room.
The plurality of RFID passive electronic tags 12 (hereinafter referred to as electronic tags 12) are distributed at various places indoors according to a preset arrangement mode, so as to correct the position coordinates of the user obtained based on the ultrasonic transmitter 11 based on an RFID positioning mode, and improve the positioning accuracy.
In one embodiment of the present invention, the plurality of electronic tags 12 are distributed around the room in an arrangement of adjacent 2 m.
The positioning device 10 is a handheld terminal used by a user for indoor positioning. The positioning device 10 may be any electronic product capable of performing human-computer interaction with a user, such as a Personal computer, a tablet computer, a smart phone, a Personal Digital Assistant (PDA), a game machine, an Internet Protocol Television (IPTV), and a smart wearable device. The Network where the intelligent terminal is located includes, but is not limited to, the internet, a wide area Network, a metropolitan area Network, a local area Network, a Virtual Private Network (VPN), and the like.
The positioning device 10, in cooperation with the plurality of ultrasonic transmitters 11 and the plurality of electronic tags 12, can achieve accurate indoor positioning. The method specifically comprises the following steps: the positioning device 10 transmits a radio frequency signal to each ultrasonic transmitter 11 at certain time intervals to trigger the ultrasonic transmitters 11 to transmit an ultrasonic signal to the positioning device 10; the positioning device 10 receives the ultrasonic signal; the positioning device 10 acquires the transmission time of the ultrasonic signal; respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal; calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device; reading the information of each electronic tag 12 in a scanning area with a preset length as a radius by taking the initial position coordinate of the positioning device as a center; calculating the distance from the positioning device to each electronic tag 12 in the scanning area; and calculating the actual position coordinates of the positioning device 10 according to the distance from the positioning device to each electronic tag 12 and the information of each electronic tag 12.
The positioning device 10 may display its actual position coordinates, i.e., the position coordinates of the user, to the user for viewing.
Please refer to fig. 3 for the structure of the positioning apparatus 10.
Example two
Fig. 3 is a schematic structural diagram of a positioning device according to a second embodiment of the present invention.
The positioning device 10 comprises at least the following elements: an RF signal transmitter 100, an arithmetic unit 102, a timer 104, an RFID reader 106, a memory 103, a receiver 101 and a display 105.
The elements are connected and communicate via a system bus.
The radio frequency signal transmitter 100 sequentially sends radio frequency signals with different frequencies to the four ultrasonic transmitters 11 at a certain time interval to trigger the ultrasonic transmitters 11 to send ultrasonic signals to the positioning device 10.
At the same time the timer 104 will record the respective time of the transmitted rf signal.
In one embodiment of the present invention, when the rf signal transmitter 100 transmits an rf signal, the transmission time interval between two adjacent rf signals is large enough to ensure that the positioning device 10 does not transmit an rf signal to the next ultrasonic transmitter after receiving an ultrasonic signal. For example, after the radio frequency signal transmitter 100 sends a radio frequency signal to a first ultrasonic transmitter 11, the first ultrasonic transmitter 11 sends an ultrasonic signal to the positioning device 10 under triggering, and after the positioning device 10 receives the ultrasonic signal, the radio frequency signal transmitter 100 sends a radio frequency signal to a second ultrasonic transmitter.
The ultrasonic transmitter 11 sends an ultrasonic signal to the positioning device 10 under the trigger of the radio frequency signal, and when the receiver 101 of the positioning device 10 receives the ultrasonic signal, the timer 104 obtains the time difference from sending the radio frequency signal to receiving the ultrasonic signal by the positioning device 10. Since the propagation speed of the rf signal is close to the speed of light, and the speed of the ultrasonic wave is about 341m/s, which is obviously much smaller than the speed of light, the transmission time of the rf signal is negligible, i.e. the time difference obtained by the timer 104 can be regarded as the transmission time of the ultrasonic signal from the ultrasonic transmitter 11 to the positioning apparatus 10.
The arithmetic unit 102 calculates actual distances between four ultrasonic transmitters and the positioning device 10 based on the transmission times of the ultrasonic signals, respectively.
The arithmetic unit 102 calculates initial position coordinates of the positioning device 10 based on actual distances between the four ultrasonic transmitters 11 and the positioning device 10 and position coordinates of each ultrasonic transmitter 11.
In one embodiment of the present invention, as shown in fig. 1, the position coordinates of the four ultrasonic transmitters 11 can be respectively expressed as (x) in the same coordinate system1，y1)，(x2，y2)，(x3，y3)，(x4，y4) (ii) a Can use1，l2，l3，l4To indicate the actual distance of each ultrasonic emitter 11 from the locating device 10, respectively. Then, the initial position coordinates of the positioning device 10 satisfy the following equation set:
(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 calculating the above equation set, the initial position coordinates (x) of the positioning device 10 can be obtained0，y0)。
After obtaining the initial position coordinates of the positioning device 10, the RFID reader 106 reads the initial position coordinates (x) of the positioning device 100，y0) And taking the preset length as the radius, and taking the information of the electronic tag in a circular area as the center. The circular area can be referred to as a scanning area, and please refer to fig. 2, which is a schematic diagram of the scanning area. In fig. 2, the center of the scanning area is the initial position coordinate (x) of the positioning device obtained by positioning according to the ultrasonic signal0，y0). The information of the electronic tags comprises the position coordinates of each electronic tag in the scanning area and the received signal strength RSSI value thereof.
The arithmetic unit 102 calculates the distance from the positioning device 10 to each electronic tag 12 in the scanning area.
In one embodiment of the present invention, the arithmetic unit 102 calculates the distance from each electronic tag 12 in the scanning area to the positioning device 10 by using a logarithmic distance loss model.
The logarithmic distance loss model is a propagation model used for predicting the average attenuation degree of a signal along a specific path along a distance under the indoor or dense crowd environment, and the specific formula is as follows:
PL(d)＝PL(d0)+10n lg(d/d0)+Xσ(5)
wherein d is the distance between the electronic tag and the positioning device 10, d0For reference distances, the value is usually 1 m; n is a path loss exponent, which is related to the surrounding environment, and is 1.5 in the embodiment; xσIs a Gaussian distribution random variable with a mean value of 0 and a standard deviation of sigma, taken in this exampleA value of 11.8; pL(d0) Denotes a reference distance d0Path loss of time, PL(d) Representing the path loss after a distance d.
The relationship between the received signal strength RSSI value and the path loss of the electronic tag is as follows:
RSSI＝Pt-PL(d) (6)
wherein, PtRepresenting the power of the RFID reader 106, is a known quantity.
The actual distance d between each electronic tag 12 and the positioning device 10 can be obtained by using the formulas (5) and (6).
The arithmetic unit 102 calculates the actual position coordinates of the positioning device 10 based on the distance from the positioning device 10 to each of the electronic tags 12 and the information on each of the electronic tags 12.
In an embodiment of the present invention, if the number of the electronic tags in the scanning area is i, an actual distance between each electronic tag and the positioning device is:
wherein (m)i，ni) Position coordinates of the ith electronic tag in the scanning area, diThe distances between the ith electronic tag and the positioning device are calculated by the formulas (5) and (6), and the actual position coordinates (x) of the positioning device 10 can be finally obtained by calculating the above equation systemp，yp)。
The arithmetic unit 102 calculates the actual position coordinates (x) of the positioning devicep，yp) And then displayed for viewing by the user on the display 105 of the pointing device 10.
The memory 103 may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 13 stores data acquired, calculated and used in the operation of the above-mentioned elements.
According to the embodiment of the invention, the initial position coordinates of a user are firstly obtained according to four indoor ultrasonic transmitters, then the information of the electronic tags in an area is read by taking the initial position coordinates as the center, and then the actual position coordinates of the user are obtained based on the RFID positioning technology. By applying two positioning technologies, the indoor positioning precision is effectively improved, and the cost is saved due to the fact that the number of the adopted ultrasonic transmitters is small and the price advantage of the electronic tag is achieved.
EXAMPLE III
Fig. 4 is a flowchart of an indoor positioning method according to a third embodiment of the present invention, which is applied to the positioning device 10 to locate the precise position of the user in the indoor positioning system 1. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs.
And S10, triggering a plurality of ultrasonic transmitters to send ultrasonic signals to the positioning device.
The plurality of ultrasonic transmitters 11 are distributed in each corner of the room to acquire the initial position coordinates of the user, and the number of the ultrasonic transmitters 11 is referenced to the coordinates that can satisfy the positioning of the user.
In one embodiment of the present invention, the number of the ultrasonic transmitters is four, and the ultrasonic transmitters are distributed in four corners of the room and are located at the same height in the room.
The positioning device 10 at least comprises a radio frequency signal transmitter 100, an RFID reader 106, a timer 104, an arithmetic unit 102 and the like.
The positioning device 10 is a hand-held terminal used by a user for indoor positioning. The radio frequency signal transmitter 100 sequentially sends radio frequency signals with different frequencies to the four ultrasonic transmitters 11 at a certain time interval to trigger the ultrasonic transmitters 11 to send ultrasonic signals to the positioning device 10.
In one embodiment of the present invention, when the rf signal transmitter 100 transmits an rf signal, the transmission time interval between two adjacent rf signals is large enough to ensure that the positioning device 10 does not transmit an rf signal to the next ultrasonic transmitter after receiving an ultrasonic signal. For example, after the radio frequency signal transmitter 100 sends a radio frequency signal to a first ultrasonic transmitter 11, the first ultrasonic transmitter 11 sends an ultrasonic signal to the positioning device 10 under triggering, and after the positioning device 10 receives the ultrasonic signal, the radio frequency signal transmitter 100 sends a radio frequency signal to a second ultrasonic transmitter.
S20, acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device.
When the radio frequency signal transmitter 100 transmits a radio frequency signal to the ultrasonic transmitter 11, the timer 104 records each time of the transmission of the radio frequency signal.
The ultrasonic transmitter 11 sends an ultrasonic signal to the positioning device 10 under the trigger of the radio frequency signal, and when the positioning device 10 receives the ultrasonic signal, the timer 104 obtains a time difference from sending the radio frequency signal to receiving the ultrasonic signal by the positioning device 10. Since the propagation speed of the rf signal is close to the speed of light, and the speed of the ultrasonic wave is about 341m/s, which is obviously much smaller than the speed of light, the transmission time of the rf signal is negligible, i.e. the time difference obtained by the timer 104 can be regarded as the transmission time of the ultrasonic signal from the ultrasonic transmitter 11 to the positioning apparatus 10.
And S30, respectively calculating the actual distances from the plurality of ultrasonic transmitters to the positioning device based on the transmission time of the ultrasonic signal.
The actual distance from the four ultrasonic transmitters to the positioning device can be represented by l1，l2，l3，l4The four distances can be calculated by the formula I-v × t under the condition that the speed of the ultrasonic signal and the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device are known.
S40, calculating the initial position coordinate of the positioning device based on the position coordinate of each ultrasonic transmitter and the actual distance to the positioning device.
In one aspect of the inventionIn an embodiment, as shown in fig. 1, the position coordinates of the four ultrasonic transmitters 11 can be respectively expressed as (x) in the same coordinate system1，y1)，(x2，y2)，(x3，y3)，(x4，y4) (ii) a Can use1，l2，l3，l4To indicate the actual distance of each ultrasonic emitter 11 from the locating device 10, respectively. Then, the initial position coordinates of the positioning device 10 satisfy the following equation set:
(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 calculating the above equation set, the initial position coordinates (x) of the positioning device 10 can be obtained0，y0)。
And S50, reading the information of the electronic tag in the scanning area with the preset length as the radius by taking the initial position coordinate of the positioning device as the center.
The electronic tags 12 are distributed at various indoor positions according to a preset arrangement mode, so that the position coordinates of the user obtained based on the ultrasonic transmitter 11 are corrected based on an RFID positioning mode, and the positioning accuracy is improved. In one embodiment of the present invention, the plurality of electronic tags 12 are distributed around the room in an arrangement of adjacent 2 m.
The scanning area is a circular area, and please refer to fig. 2, which is a schematic diagram of the scanning area. In fig. 2, the center of the scanning area is the initial position coordinate (x) of the positioning device obtained by positioning according to the ultrasonic signal0，y0) The radius of the scanning area may be preset according to an indoor actual situation, and in an embodiment of the present invention, the preset radius is 2.5 m. The information of the electronic tags comprises the position coordinates of each electronic tag in the scanning area and the received signal strength RSSI value thereof.
In this step, the position coordinates of each electronic tag in the scanning area and the RSSI value of the received signal strength of each electronic tag may be read for the RFID reader 106.
And S60, calculating the distance from the positioning device to each electronic tag in the scanning area.
In one embodiment of the present invention, the arithmetic unit 102 calculates the distance from each electronic tag 12 in the scanning area to the positioning device 10 by using a logarithmic distance loss model.
The logarithmic distance loss model is a propagation model used for predicting the average attenuation degree of a signal along a specific path along a distance under the indoor or dense crowd environment, and the specific formula is as follows:
PL(d)＝PL(d0)+10n lg(d/d0)+Xσ(5)
wherein d is the distance between the electronic tag and the positioning device 10, d0For reference distances, the value is usually 1 m; n is a path loss exponent, which is related to the surrounding environment, and is 1.5 in the embodiment; xσThe mean value is 0, and the standard deviation is a gaussian distribution random variable of σ, and the value in this embodiment is 11.8; pL(d0) Denotes a reference distance d0Path loss of time, PL(d) Representing the path loss after a distance d.
The relationship between the received signal strength RSSI value and the path loss of the electronic tag is as follows:
RSSI＝Pt-PL(d)(6)
wherein, PtRepresenting the power of the RFID reader 106, is a known quantity.
The actual distance d between each electronic tag 12 and the positioning device 10 can be obtained by using the formulas (5) and (6).
And S70, calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
The arithmetic unit 102 calculates the actual position coordinates of the positioning device 10 based on the distance from the positioning device 10 to each of the electronic tags 12 and the information on each of the electronic tags 12.
In an embodiment of the present invention, if the number of the electronic tags in the scanning area is i, an actual distance between each electronic tag and the positioning device is:
wherein (m)i，ni) Position coordinates of the ith electronic tag in the scanning area, diThe distances between the ith electronic tag and the positioning device are calculated by the formulas (5) and (6), and the actual position coordinates (m) of the positioning device 10 can be finally obtained by calculating the above equation systemi，ni)。
In one embodiment of the present invention, the arithmetic unit 102 calculates the actual position coordinates (x) of the positioning devicep，yp) And then displayed for the user to view on the display of the pointing device 10.
According to the embodiment of the invention, the initial position coordinates of a user are firstly obtained according to four indoor ultrasonic transmitters, then the information of the electronic tags in an area is read by taking the initial position coordinates as the center, and then the actual position coordinates of the user are obtained based on the RFID positioning technology. By applying two positioning technologies, the indoor positioning precision is effectively improved, and the cost is saved due to the fact that the number of the adopted ultrasonic transmitters is small and the price advantage of the electronic tag is achieved.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of modules or means recited in the system claims may also be implemented by one module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (16)
1. An indoor positioning system, comprising a plurality of ultrasonic transmitters, a plurality of electronic tags, at least one positioning device, wherein:
the ultrasonic transmitters are distributed at each indoor corner so as to acquire the initial position coordinates of the positioning device;
the electronic tags are distributed at each position in the room according to a preset arrangement mode so as to correct the initial position coordinates of the positioning device;
the positioning device sequentially triggers the ultrasonic transmitters to send ultrasonic signals to the positioning device according to a preset time interval; acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device; respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal; calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device; reading the information of each electronic tag in a scanning area with the preset length as the radius by taking the initial position coordinate of the positioning device as the center; calculating the distance from the positioning device to each electronic tag in the scanning area; and calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
2. The indoor positioning system of claim 1, wherein the ultrasonic transmitters are four, distributed at four corners of the indoor and at the same height;
the plurality of electronic tags are distributed at any position in a mode of adjacent 2 m.
3. A positioning device, characterized in that it comprises:
the radio frequency signal emitter sequentially sends radio frequency signals with different frequencies to the ultrasonic emitters according to a preset time interval so as to trigger the ultrasonic emitters to send ultrasonic signals to the positioning device, and the ultrasonic emitters are distributed at each corner of the room;
the timer is used for acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device;
an arithmetic unit which respectively calculates the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal;
the arithmetic unit is used for calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance from the positioning device;
the RFID card reader takes the initial position coordinate of the positioning device as a center, reads the information of each electronic tag in a scanning area taking the preset length as the radius, and the electronic tags are distributed at each position indoors according to a preset arrangement mode;
the arithmetic unit is used for calculating the distance from the positioning device to each electronic tag in the scanning area; and
the arithmetic unit is used for calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag;
the radio frequency signal emitter, the timer, the arithmetic unit and the RFID card reader are connected and transmit information through a bus.
4. The positioning device of claim 3, wherein the time interval is sufficient for the positioning device to complete reception of an ultrasonic signal.
5. The positioning apparatus of claim 4, wherein the timer records respective times at which the radio frequency transmitter transmits radio frequency signals.
6. The positioning device of claim 3, wherein the transmission time of the ultrasonic signal is: the time difference between the sending of the radio frequency signal and the receiving of the ultrasonic signal by the positioning device.
7. The positioning apparatus according to claim 3, wherein the information of the electronic tags read by the RFID reader includes position coordinates of each electronic tag and a received signal strength RSSI value thereof.
8. The positioning device as claimed in claim 3, wherein the calculator calculates the distance from the positioning device to each electronic tag in the scanning area by using the relationship between the RSSI value and the path loss of the electronic tag and a logarithmic distance loss model.
9. The positioning device according to any one of claims 3-8, wherein the number of the ultrasonic transmitters is four, and the ultrasonic transmitters are distributed at four corners of the room and are positioned at the same height;
the plurality of electronic tags are distributed at any position in a mode of adjacent 2 m.
10. An indoor positioning method applied to an indoor positioning system comprising a plurality of ultrasonic transmitters, a plurality of electronic tags and at least one positioning device, the method comprising the following steps:
triggering a plurality of ultrasonic transmitters to send ultrasonic signals to the positioning device, wherein the plurality of ultrasonic transmitters are distributed in each corner of the room;
acquiring the transmission time of the ultrasonic signal from the ultrasonic transmitter to the positioning device;
respectively calculating the actual distance from each ultrasonic transmitter to the positioning device based on the transmission time of the ultrasonic signal;
calculating initial position coordinates of the positioning device based on the position coordinates of each ultrasonic transmitter and the actual distance to the positioning device;
reading the information of each electronic tag in a scanning area with a preset length as a radius by taking the initial position coordinate of the positioning device as a center, wherein the electronic tags are distributed at each position indoors according to a preset arrangement mode;
calculating the distance from the positioning device to each electronic tag in the scanning area; and
and calculating the actual position coordinates of the positioning device according to the distance from the positioning device to each electronic tag and the information of each electronic tag.
11. The method of claim 10, wherein the method further comprises:
the positioning device sequentially sends radio-frequency signals with different frequencies to each ultrasonic transmitter according to a preset time interval, and the time interval meets the condition that the positioning device finishes receiving the ultrasonic signals once.
12. The method of claim 11, wherein the method further comprises:
and recording each moment when the positioning device transmits the radio frequency signal.
13. The method of claim 10, wherein the transmission time of the ultrasonic signal is: the time difference between the sending of the radio frequency signal and the receiving of the ultrasonic signal by the positioning device.
14. The method according to claim 10, wherein the reading of the information of each electronic tag in the scanning area specifically includes: and the position coordinates of the electronic tag and the received signal strength RSSI value of the electronic tag.
15. The method of claim 10, wherein said calculating the distance from the positioning device to each electronic tag in the scanning area comprises:
and calculating the distance from each electronic tag to the positioning device in the scanning area by utilizing the relationship between the RSSI value and the path loss of the electronic tag and a logarithmic distance loss model.
16. The method of any one of claims 10-15, wherein the number of ultrasonic emitters is four, distributed at four corners and at the same height in the room;
the plurality of electronic tags are distributed at any position in a mode of adjacent 2 m.
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| CN109633519A (en) * | 2018-12-07 | 2019-04-16 | 皖西学院 | Indoor locating system and method based on ultrasonic wave and RFID |
| CN111829525A (en) * | 2020-07-22 | 2020-10-27 | 深圳市微能信息科技有限公司 | UWB (ultra wide band) indoor and outdoor integrated intelligent navigation positioning method and system |
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