CN110177337A - Indoor orientation method and indoor positioning shopping cart system - Google Patents
Indoor orientation method and indoor positioning shopping cart system Download PDFInfo
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- CN110177337A CN110177337A CN201910465237.XA CN201910465237A CN110177337A CN 110177337 A CN110177337 A CN 110177337A CN 201910465237 A CN201910465237 A CN 201910465237A CN 110177337 A CN110177337 A CN 110177337A
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- base station
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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
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses indoor orientation method and indoor positioning shopping cart systems, it is related to indoor positioning technologies field, including base station, label and PC terminal, this product is applicable to high-precision, the indoor positioning scene of high real-time requirements, each base station sends and receives digital baseband Gauss burst pulse data with label and communicates with base station, base station, obtains the distance between each base station based on bilateral location algorithm, obtains the relative position of base station and label by space tetrahedron location algorithm.Using digital baseband Gauss burst pulse as wireless communication signals, there is high anti-interference ability.Bilateral location algorithm reduces because of the asynchronous bring range error of each intermodule clock, to provide accurately, real-time indoor positioning.
Description
Technical field
The present invention relates to indoor positioning technologies fields, more particularly to indoor orientation method and indoor positioning shopping cart system
System.
Background technique
Shopping cart is the equipment being commonly used when current people shopping, and the type of merchandize in supermarket or market is very more, is
The consumer is facilitated to quickly find the commodity of needs, identical or similar properties commodity can be all placed in one by supermarket or market
It rises, and throughout placement region guides mark, guides direction for consumer.
But even if by the way of above, consumption looks for when finding particular commodity that there is still a need for bigger at one
It is raked about in region.In order to solve this problem, occur indoor positioning technologies at present, pass through Zigbee, bluetooth and RFID
Etc. technologies provide indoor location for user, the position programme path for the article then found as needed, allow users to according to
The route of planning goes directly to destination.
Indoor positioning technologies mainly have at present:
ZigBee technology
It is host node using setting Zigbee coordinator, Zigbee coordinator is established zigbee family lan, created simultaneously
A network adjacency list to be built, one router is set in each room, host node is each router one PAN ID of distribution, and
It adds information in network adjacency list, completes the addition of router；Related invention patent has: Zhejiang University's application number
The Chinese invention patent application of CN201610120355.3, application No. is the Chinese invention of CN201720320657 is special for University Of Nanchang
Benefit application, the indoor positioning for hospital.Compared with detection method of the invention, Zigbee system uses big quantity sensor, at
This is higher.
Bluetooth technology
Bluetooth indoor positioning technologies are a kind of Radio Transmission Technologys of short distance low-power consumption, install bluetooth appropriate indoors
After LAP LAN Access Point, by network configuration at the basic network connection mode based on multi-user, and guarantee that bluetooth local area network accesses
Point is the main equipment of this micronetwork always.The location information for being obtained with user by detecting signal strength in this way.It is related
Patent of invention have: China metering university, application No. is the Chinese invention patent applications of CN201811197928.With it is of the invention
Detection method is compared, and bluetooth Positioning System is low, cannot be applicable in complex environment.
RFID technique
RFID location technology carries out contactless bidirectional communication exchange data using radio frequency method, realizes mobile device identification
With the purpose of positioning.It can obtain the information of centimeter-level positioning precision in several milliseconds, and transmission range is big, cost is relatively low；
Relevant patent of invention has: Xuzhou Long An Electronic Science and Technology Co., Ltd..Application No. is CN201711421374.With inspection of the invention
Survey method is compared, and RFID location technology operating distance is short, generally up to tens meters, is not easy to be integrated among mobile device.
Summary of the invention
The embodiment of the invention provides indoor orientation method and indoor positioning shopping cart systems, can solve in the prior art
There are the problem of.
The present invention provides indoor orientation methods, method includes the following steps:
Between indoor base station and base station, the intercommunication of base station and label, obtain between base station and base station and base
It stands the distance between label, is then sent to PC terminal, the label is mounted on shopping cart；
The PC terminal establishes space coordinates, determines that base station institute is planar each according to the distance between base station and base station
Then the coordinate of a base station is determined according to the coordinate and the distance between base station and label using space tetrahedron location algorithm
The coordinate of label, to complete the positioning to shopping cart.
The present invention also provides the indoor positioning shopping cart systems of the above-mentioned indoor orientation method of application, which includes base
Stand, label and PC terminal, the label are mounted on shopping cart, adopted between the base station and base station and between base station and label
Communicated, determined between base station by the PC terminal and the distance between base station and label with UWB technology, the PC terminal according to
Between base station and the distance between base station and label determines the coordinate of the label using space tetrahedron location algorithm, with
Complete the positioning to shopping cart.
Indoor orientation method and indoor positioning shopping cart system in the present invention, including base station, label and PC terminal, this production
Product are applicable in high precision, the indoor positioning scene of high real-time requirements, by sending and receiving digital baseband height between each base station
This burst pulse data obtains the distance between the distance between each base station, base station and label based on bilateral location algorithm, then passes through
Crossing space Tetrahedrons algorithm can be obtained the relative position of label.Using digital baseband Gauss burst pulse as wireless communication signals,
With high anti-interference ability, bilateral location algorithm reduces because of the asynchronous bring range error of each intermodule clock, to provide
Accurately, real-time indoor positioning.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the illustraton of model of indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is the circuit diagram of digital back-end in base station and label in indoor positioning shopping cart system；
Fig. 3 is the circuit diagram of AFE(analog front end) in base station and label in indoor positioning shopping cart system；
Fig. 4 is the Peripheral clock circuit and download interface circuit diagram of digital back-end；
Fig. 5 is the navigation routine schematic diagram that display screen is shown.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig.1, the present invention provides indoor orientation method, this method is mainly comprised the steps that
Between indoor base station and base station, the intercommunication of base station and label, obtain between base station and base station and base
It stands and is sent to PC terminal after the distance between label, wherein the quantity of base station is at least three, in three base stations based on one
Base station, base station supplemented by other two, three base stations constitute triangle indoors, and prothetic group station sends the distance value of acquisition to
All distance values are sent a PC terminal by master base station by master base station, and label is then mounted on shopping cart；
PC terminal establishes space coordinates, determines base station institute planar each base according to the distance between base station and base station
Then the coordinate stood determines the coordinate of label according to the coordinate and the distance between base station and label, that is, completes to shopping
The positioning of vehicle.
In the above method, after master base station obtains between all base stations distance and the distance between base station and label, by this
A little range data are sent to PC terminal by way of short packages, in short packages transmission process, first add in data packet
Data packet head and data packet tail retransmit, and data packet head is used as distinguishing the mark that every frame data start, data packet tail conduct
It distinguishes the mark that every frame data terminate, data perturbation can be effectively prevented in this way, avoid generation PC terminal that from can not correctly identifying number
The case where according to the meaning represented is wrapped.
As shown in Figure 1, determining base station relative position: using the base station A0 as anchor point, initialization A0 base station coordinates are (x0,y0).It is false
If base station A1 and base station A0 line are coordinate Y-axis, perpendicular direction is coordinate X-axis.Base station A0, A1 distance l0It is known that can
Obtaining A1 point coordinate is (x0,y0+l0).A2 point similarly can be obtained relative to A0 point coordinate according to triangular relationship.
As shown in Figure 1, determining base station and label relative position: when base station and label L be not in a plane, base station and mark
Label constitute a tetrahedron.Tetrahedral six side, that is, LA0, LA1, LA2, A0A1, A0A2, the length of A1A2 is respectively l0,l1,
l2,s0,s1,s2.The tetrahedral volume V in space can be found out according to Euler's tetrahedron formula.By the available triangle of Heron's formula
The area of shape A0A1A2, and then obtain the height value h of the distance LL ' of the projection of L point to reference planes A0A1A2.Then pass through three
Angular geometry site can calculate projector distance hL0, hL1, the hL2 for acquiring label L relative to the base station A0, A1, A2；Then
Angle α of the hL0 relative to reference axis A0A1 is calculated by the cosine law, obtains target point in Y-axis relative to master base station A0 value △ y
Absolute value with target point in X-axis relative to master base station A0 | △ x |, eventually by calculating, comparison label relative to base station A2's
Projector distance obtains value △ x of the target point in X-axis relative to master base station A0；The final plane for determining label relative to master base station A0
Coordinate (x0+△x,y0+△y)；From the above analysis, it is known that the space coordinate of label L is (x0+△x,y0+△y,h)。
Three circle location algorithms are generally used under conventional situation when solving the problems, such as indoor positioning, i.e., are covered by base station signal
The point of area intersection determines the position of label, and when in plane locating for label is in base station, this localization method can be obtained
Accurately positioning, but when outside plane locating for label be in base station, the tag coordinate of this location algorithm determination is an area
Domain rather than a point, therefore this algorithm is no longer applicable in.It can be good at solving this using method of the invention asking
Topic.
After the coordinate for determining label L, it can be navigated according to the coordinate.It needs to draw indoorly before navigation
All positions in map are marked coordinate, coordinate precision 10cm, then using indoor entrance as origin, according to setting by figure
The automatic programme path of terminal.
Referring to Fig. 2-5, the present invention also provides indoor positioning shopping cart system, which includes base station, label and PC whole
End, the quantity of the base station are at least three, one of them is master base station, and another two is prothetic group station, and label is mounted on shopping cart
On, driving and display system are also equipped on the shopping cart, the driving and display system include MCU microcontroller, motor, steering engine
And display screen, motor is for driving the idler wheel of shopping cart to rotate, so that shopping cart automatic moving, steering engine is for driving shopping cart
Idler wheel adjusts direction of advance, and the model BDS1000 of the steering engine, display screen is TFT liquid crystal display, for showing that shopping cart is worked as
The navigation routine of front position and planning, the model K60DN512 of MCU microcontroller.
Substantial base station and label are identical hardware devices, can define respective hardware after configuring related register and set
Standby function is used as base station or label.After obtaining the distance between base station and between base station and label, distance value is
6 group of 16 system number, prothetic group station are formed short packages and are sent to master base station using UWB (ultra wide band) technology.
Each base station and label all have AFE(analog front end) and digital back-end, and AFE(analog front end) is DWM1000 ultra-wide microarray strip, should
The narrow pulse signal of the transmitter transmitting nanosecond of ultra-wide microarray strip carries out UWB communication to other base stations, ultra-wide microarray strip
After the pulse signal that receiver receives other base stations or label is sent, number is transferred to by SPI technical grade serial communication interface
The STM32 of word rear end controls chip, and STM32 control chip encodes the low and high level received, utilizes classical bilateral survey
It is calculated between each base station away from algorithm and the distance between base station and label, these distance values is finally aggregated into main base
It stands, then distance value is sent to PC terminal by serial ports by master base station.It, will be true after PC terminal uses above-mentioned indoor orientation method
The coordinate of fixed label is sent to the MCU microcontroller of driving and display system on shopping cart, the MCU microcontroller by bluetooth
Display screen is controlled again and shows the coordinate position, and motor is then controlled according to the navigation routine to terminal of formulation and steering engine works,
Shopping cart is set to be automatically moved to terminal.
The compatible IEEE802.15.4-2011 agreement of the ultra-wide microarray strip of the DWM1000 selected in the present invention, then with model
Control and data processing are carried out for the STM32 control chip of STM32C8T.The spreading rate of DWM1000 ultra-wide microarray strip is
499.2MHz, system clock frequency 125MHz, sample clock frequency 63.8976GHz, using this high sample clock frequency
The real-time and accuracy of data can be improved with the ultra-wide microarray strip of low system clock frequency.
In order to improve the coverage rate of positioning signal, the present invention uses two ways, first is that more using reasonable location algorithm
Change the quantity of base station, realize wider and more precise positioning, second is that improving the antenna transmission power or use of AFE(analog front end)
The form of aerial array realizes that overlay area is adjustable.
Since shopping cart can encounter the barriers such as other consumers or shelf in moving process, shopping cart is in movement
Then the case where needing real-time detection peripheral obstacle in the process accordingly controls motor and steering engine by MCU microcontroller,
To carry out avoidance obstacle.
As in Figure 2-4, the pin PA2 that STM32 controls chip U1 passes through concatenated Light-emitting diode LED 3 and resistance R2
Ground connection, pin PD0-OSC_IN is connect by crystal oscillator U2 with pin PD1-OSC_OUT, while pin PD0-OSC_IN and PD1-
OSC_OUT is also grounded by capacitor C5 and C6 respectively, pin BOOT0 ground connection.The pin VSS of DWM1000 ultra-wide microarray strip U3 connects
Ground, pin VDD3V3 meet power supply 3V3, pin GPIO0-GPIO4 successively with the pin PB0-PB2 of STM32 control chip U1,
PB10-PB11 connection, pin SPICSn, SPICLK, SPIMISO and SPIMOSI of DWM1000 ultra-wide microarray strip U3 successively with
STM32 control chip U1 pin PA4-PA7 connection, pin PA0-WKUP, PA8, PA11 of DWM1000 ultra-wide microarray strip U3 and
PB15 is successively connect with pin IRQ, WAKEUP, EXTON and RSTn of STM32 control chip U1.
The pin PA13 and PA14 of STM32 control chip U1 is connected to the pin DIO and CLK of SWD interface JLINK,
The pin GND of SWD interface JLINK is grounded.STM32 control chip U1 pin PB12-PB14, PA3 successively with HD4 plug J1
Pin 1-4 connection, STM32 control chip U1 pin PA10 and PA9 respectively with the pin 3 and 4 of HD4 plug J2 and J3 connect
It connects, the pin 1 of HD4 plug J2 and J3 are grounded, and pin 2 connects 5V power supply.Using model AMS1117_3.3's in the present invention
5V power supply is converted to 3.3V power supply by voltage-stablizer U4, and the pin Vin of voltage-stablizer U4 connects 5V power supply, is connect simultaneously also by capacitor C3
Ground, pin GND ground connection, pin Vout are also parallel with concatenated shine by capacitor C1 and C8 ground connection in parallel, the both ends capacitor C8
Diode (LED) 1 and resistance R1.STM32 control chip U1 pin PA12, PA15 and PB3-PB8 successively with model SW8 eight
The pin 1-8 connection of channel automatic switch U5, the pin 9-16 of eight channel automatic switch U5 are grounded.
Display and navigation of the invention are tested below, using the display screen upper left corner as coordinate origin, the position of base station A
Position relative to display screen is adaptive, can be determined by program initialization.Above-mentioned tetrahedron space orientation algorithm has obtained
To the relative position of each base station and label.It is aobvious that the position of all labels and base station on a display screen can be realized in simple program
Show, target endpoint is known in the application scenarios of reality, can carry out path rule with the coordinate of goal-selling point and terminal
It draws, as shown in figure 5, final error is substantially within 5cm to 10cm.White square represents base station in figure, and white route is suitable
In the path of label walking.Wherein during path planning, by the real-time coordinates (target_x, target_y) for judging label
Fixed coordinates with target point are (set_x, set_y) to determine direction, it is contemplated that indoor environment route, by the path of shopping cart
It is divided into the combination of multistage straight line path, has thus obtained optimal indoor positioning and navigation.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (7)
1. indoor orientation method, which is characterized in that method includes the following steps:
Between indoor base station and base station, the intercommunication of base station and label, obtain between base station and base station and base station and
The distance between label, is then sent to PC terminal, and the label is mounted on shopping cart；
The PC terminal establishes space coordinates, determines base station institute planar each base according to the distance between base station and base station
Then the coordinate stood determines label using space tetrahedron location algorithm according to the coordinate and the distance between base station and label
Coordinate, to complete positioning to shopping cart.
2. indoor orientation method as described in claim 1, which is characterized in that the quantity of the base station is at least three, this three
One is master base station in a base station, and base station supplemented by other two, which constitutes triangle, the prothetic group station general indoors
The distance value of acquisition sends master base station to, and all distance values are sent to the PC terminal by the master base station.
3. indoor orientation method as claimed in claim 2, which is characterized in that the master base station obtains distance between all base stations
And behind the distance between base station and label, these range data are sent to the PC terminal by way of short packages,
In short packages transmission process, the master base station is retransmited in data packet plus data packet head and data packet tail, data packet head
It is used as distinguishing the mark that every frame data start, data packet tail is as the mark for distinguishing that every frame data terminate.
4. indoor orientation method as described in claim 1, which is characterized in that after the coordinate for determining the label, with interior
Entrance is origin, according to pre-rendered indoor map, according to the automatic programme path of the terminal of setting.
5. the indoor positioning shopping cart system of the application described in any item indoor orientation methods of claim 1-4, which is characterized in that
The system includes base station, label and PC terminal, and the label is mounted on shopping cart, between the base station and base station and base station
It is communicated, is determined between base station by the PC terminal and the distance between base station and label using UWB technology between label, institute
PC terminal is stated according between base station and the distance between base station and label, the mark is determined using space tetrahedron location algorithm
The coordinate of label, to complete the positioning to shopping cart.
6. indoor positioning shopping cart system as claimed in claim 5, which is characterized in that be equipped on the shopping cart driving and
Display system, the driving and display system include MCU microcontroller and the motor, the rudder that are electrically connected with the MCU microcontroller
Machine and display screen, the motor is for driving the idler wheel of shopping cart to rotate, so that shopping cart automatic moving, the steering engine is for driving
The idler wheel of dynamic shopping cart adjusts direction of advance, and the display screen is used to show the navigation road of shopping cart current location and planning
Line.
7. indoor positioning shopping cart system as claimed in claim 5, which is characterized in that the quantity of the base station is at least three
A, one of them is master base station, and base station in addition is prothetic group station, and each base station and label all have AFE(analog front end) and number
Rear end, the AFE(analog front end) be ultra-wide microarray strip, the ultra-wide microarray strip transmitter transmitting nanosecond narrow pulse signal to its
His base station is to carry out UWB communication, the pulse signal that the receiver of the ultra-wide microarray strip receives other base stations or label is sent
Afterwards, chip is controlled by the STM32 that SPI technical grade serial communication interface is transferred to the digital back-end, which controls chip
The low and high level received is encoded, be calculated between each base station using classical bilateral location algorithm and base station and
The distance between label, those distance values are finally aggregated into master base station, and then distance value is sent to institute by serial ports by master base station
State PC terminal.
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| CN112907802A (en) * | 2021-02-02 | 2021-06-04 | 安徽中屏科技有限公司 | Method and system for intelligently authenticating and positioning examinees in examination room |
| CN113660601A (en) * | 2021-07-02 | 2021-11-16 | 位置互联(北京)科技有限公司 | Positioning method, positioning device and computer readable storage medium |
| CN114125706A (en) * | 2021-11-24 | 2022-03-01 | 合肥朗云物联科技股份有限公司 | UWB-based forklift arrival reminding display system |
| CN117425124A (en) * | 2023-12-08 | 2024-01-19 | 长春理工大学 | UWB positioning method and system based on sea-land formula area method |
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| CN111007459A (en) * | 2019-12-19 | 2020-04-14 | 浙江工业大学之江学院 | Dynamic topology positioning method |
| CN112907802A (en) * | 2021-02-02 | 2021-06-04 | 安徽中屏科技有限公司 | Method and system for intelligently authenticating and positioning examinees in examination room |
| CN113660601A (en) * | 2021-07-02 | 2021-11-16 | 位置互联(北京)科技有限公司 | Positioning method, positioning device and computer readable storage medium |
| CN114125706A (en) * | 2021-11-24 | 2022-03-01 | 合肥朗云物联科技股份有限公司 | UWB-based forklift arrival reminding display system |
| CN117425124A (en) * | 2023-12-08 | 2024-01-19 | 长春理工大学 | UWB positioning method and system based on sea-land formula area method |
| CN117425124B (en) * | 2023-12-08 | 2024-03-22 | 长春理工大学 | UWB positioning method and system based on sea-land formula area method |
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