CN111343583B - Positioning system using multiple wireless signal receivers - Google Patents
Positioning system using multiple wireless signal receivers Download PDFInfo
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- CN111343583B CN111343583B CN202010123843.6A CN202010123843A CN111343583B CN 111343583 B CN111343583 B CN 111343583B CN 202010123843 A CN202010123843 A CN 202010123843A CN 111343583 B CN111343583 B CN 111343583B
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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
- H04W4/029—Location-based management or tracking services
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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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Abstract
The invention relates to a positioning system using a plurality of wireless signal receivers. The identification information is continuously broadcast through the mobile tag, so that the first receiver receiving the identification signal calculates the wireless signal strength between the first receiver and the mobile tag according to the identification information, the first target receiver is selected through the first gateway according to all wireless signal information received in the current time interval, and the position of the first target receiver is taken as the first positioning position of the object to be positioned in the current time interval, so that the effect of positioning the object to be positioned is achieved, the hardware cost of a device arranged on the object to be positioned is reduced, and the condition that signals interfere with each other is greatly reduced.
Description
Technical Field
The present invention relates to a positioning system, and more particularly to a positioning system using a plurality of wireless signal receivers.
Background
In the present society, the wireless signal transmission technology is rapidly developed, and a positioning method using the wireless signal communication technology is continuously developed, and at present, no matter in the logistics industry or the medical industry, the positioning method is applied to know the current position of a product or a patient, and the existing positioning method is mainly implemented by a receiving device installed on an object to be positioned, a plurality of wireless signal transmitters arranged in a fixed area and respectively located at different positions, and a server connected with the wireless signal transmitters and the receiving device through a communication network, and the positioning method mainly comprises the following steps: for each wireless signal transmitter, the wireless signal transmitter continuously broadcasts a detection signal, when the receiving device receives the detection signal of at least one of the wireless signal transmitters, the receiving device calculates a positioning position of the receiving device relative to the wireless signal transmitters according to the detection signal, generates a position message related to the positioning position and transmits the position message to the server. By the positioning method, the actual position of the object to be positioned in the fixed area can be obtained, so that a logistics provider can inquire the position of the stored goods in a warehouse through the server, or a medical care management provider can inquire the position of a patient in a hospital through the server.
However, the conventional positioning method still has the following defects that firstly, the receiving device needs to be able to process related operations because the receiving device needs to receive the detection signal and calculate the positioning position corresponding to the receiving device, so that the required performance and cost of the receiving device are high, and furthermore, in order to achieve accurate positioning, the conventional positioning method needs to arrange a plurality of wireless signal transmitters in the fixed area, for example, a plurality of bluetooth base stations are arranged in a room, signal issuing ranges of the wireless signal transmitters need to overlap with each other, and each wireless signal transmitter needs to continuously broadcast the detection signal, so that the positioning accuracy is influenced by signal interference between the wireless signal transmitters.
Disclosure of Invention
The present invention provides a positioning system using multiple wireless signal receivers, which can save the cost and reduce the signal interference.
The purpose of the invention is realized by the following technical scheme: a positioning system using a plurality of wireless signal receivers for positioning an object to be positioned that is movable on a floor in a space, comprising: the positioning system comprises a positioning device and a positioning system,
a first gateway;
a mobile tag adapted to be mounted on the object to be located and configured to continuously broadcast an identification message including a unique tag identifier;
and a plurality of first receivers, each of which is connected to the first gateway through a communication network and is adapted to be disposed in the space and located at different positions, each of the first receivers being configured to continuously receive the identification message from the mobile tag within a communicable range, and for each of the first receivers, when the first receiver receives the identification message including the tag identifier corresponding to the mobile tag, the first receiver calculates a wireless signal strength between the first receiver and the mobile tag according to the identification message, and transmits a wireless signal information including a receiver identifier corresponding to the first receiver, the tag identifier, and the wireless signal strength to the first gateway; the first gateway selects a first target receiver from each first receiver that transmitted the wireless signal information in a current time interval according to all the wireless signal information received from at least one of the first receivers in the current time interval, and uses the position of the first target receiver as a first positioning position of the object to be positioned in the current time interval.
As an improvement of the present invention, the first gateway calculates a signal density value of the mobile tag in the current time interval relative to each first receiver that transmitted the wireless signal information in the current time interval according to all the wireless signal information received from at least one of the first receivers in the current time interval, and selects the first target receiver corresponding to the maximum signal density value from each first receiver that transmitted the wireless signal information in the current time interval according to the calculated signal density values.
As a further improvement of the present invention, for each first receiver that transmitted the wireless signal information in the current time interval, the first gateway calculates, according to the wireless signal information received from the first receiver in the current time interval, a receiving number of times of receiving all the wireless signal information associated with the mobile tag from the first receiver and an average wireless signal strength associated with the first receiver and the mobile tag, and determines whether a previous time interval previous to and closest to the current time interval of the first receiver is selected as the first target receiver, when the first gateway determines that the first receiver is selected as the first target receiver in the previous time interval, the first gateway selects N consecutive previous time intervals previous to the current time interval, the first receiver is selected as the first target receiver in the N previous time intervals, and is not selected as the first target receiver in the (N + 1) th previous time interval, and a selection time of the first receiver being selected as the first target receiver is set to N, when the first gateway determines that the first receiver is not selected as the first target receiver in the previous time interval, the first gateway sets the selection time of the first receiver to zero, and the first gateway calculates the signal density value of the mobile tag relative to the first receiver in the current time interval according to the reception time, the average wireless signal strength and the selection time, wherein N ≧ 1.
As a further improvement of the present invention, when N is greater than or equal to an upper limit value, the first gateway further changes the selected number of times of the first receiver to the upper limit value.
As a further improvement of the present invention, for each first receiver, the first gateway calculates the signal density value of the mobile tag associated with the first receiver in the current time zone according to the following formula:
Result＝R*0.6+C*0.2+T*0.2
wherein Result is the signal density value, R is the average wireless signal strength, C is the receiving times, and T is the selecting times.
As a further improvement of the present invention, when the first gateway calculates a plurality of signal density values corresponding to the maximum values, the first gateway randomly selects one of the first receivers corresponding to the maximum signal density value as the first target receiver.
As a further improvement of the present invention, the mobile tag continuously broadcasts the identification message by using bluetooth communication technology. The positioning system of claim 1, wherein: the positioning system further comprises: a plurality of second receivers adapted to be disposed in the space and located at different positions from the first receivers, respectively, and each of the second receivers having different positions, each of the second receivers being configured to continuously receive the identification message from the mobile tag within a communicable range, for each of the second receivers, when the second receiver receives the identification message including the tag identifier corresponding to the mobile tag, the second receiver calculates a wireless signal strength between the second receiver and the mobile tag according to the identification message, and generates a wireless signal information including a receiver identifier corresponding to the second receiver, the tag identifier, and the wireless signal strength; a second gateway, connected to the second receivers through the communication network, the second gateway selecting a second target receiver from each second receiver that transmitted the wireless signal information in the current time interval according to all the wireless signal information received from at least one of the second receivers in the current time interval, and using the position of the second target receiver as a second positioning position of the object to be positioned in the current time interval; the server is connected with the first gateway and the second gateway through the communication network; the first gateway continuously transmits location information including a first location position related to the object to be located and a signal density value corresponding to the first target receiver to the server, the second gateway continuously transmits location information including a second location position related to the object to be located and a signal density value corresponding to the second target receiver to the server, and the server selects a pointer receiver from the first target receiver and the second target receiver according to all the location information received from at least one of the first gateway and the second gateway in the current time interval and takes the location of the pointer receiver as the location position of the object to be located in the current time interval.
As a further improvement of the present invention, the server selects the pointer receiver corresponding to the maximum signal density value from the first target receiver and the second target receiver according to all the location information received from at least one of the first gateway and the second gateway within the current time interval.
The invention has the following beneficial effects: the identification information is continuously broadcasted by the mobile tag, so that the first receiver receiving the identification signal calculates the wireless signal strength between the first receiver and the mobile tag according to the identification information, the first gateway selects the first target receiver according to all the wireless signal information received in the current time interval, and the position of the first target receiver is taken as the first positioning position of the object to be positioned in the current time interval, so as to achieve the effect of positioning the object to be positioned, in addition, the function of the mobile tag only needs to broadcast the identification information, thereby reducing the hardware cost of the device arranged on the object to be positioned, moreover, the size of the mobile tag is not large, so that the mobile tag can be conveniently arranged on the object to be positioned, on the other hand, the identification information is broadcasted to the first receivers by the mobile tag, the interference between the signals can be greatly reduced compared to the signals received from the first receivers.
Drawings
FIG. 1 is a schematic block diagram of a first embodiment of the present invention;
FIG. 2 is a flowchart of a positioning method performed by the first embodiment of the present invention;
fig. 3 is a flowchart illustrating sub-steps of step 204 in the positioning method according to the first embodiment of the present invention;
FIG. 4 is a flowchart of a determination method performed by the second embodiment of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
Referring to fig. 1, a first embodiment of the positioning system of the present invention includes a server 1, a first gateway 11 connected to the server 1 via a communication network 100, a plurality of first receivers 12 respectively connected to the first gateway 11 via the communication network 100, an object to be positioned 13, and a mobile tag 14 installed on the object to be positioned 13. The mobile Tag 14 continuously broadcasts an identification message including a unique Tag identifier By using Bluetooth communication technology, the first receivers 12 are disposed in a space and located at different positions, each of the first receivers 12 is configured to continuously receive the identification message from the mobile Tag 14 within a communicable range, in this embodiment, the mobile Tag 14 may be a Bluetooth low energy Beacon (Bluetooth low energy Beacon), such as iBeacon of Apple (Apple), or a Wireless Wearable Bluetooth low energy Beacon (Wireless Wearable By Beacon) of ocean communication (netvox), and the receivers may be a Cloud-Based Wireless Smart Home Controller (Cloud-Based Wireless Home Controller) of ocean communication (netvox), but not limited thereto.
A positioning method implemented by the first embodiment of the positioning system of the present invention will be described with reference to the accompanying drawings. Referring to fig. 2, the positioning method illustrates how the first gateway 11 obtains a positioning location corresponding to the object to be positioned, and includes a step 201, a step 202, a step 203, a step 204, a step 205, and a step 206.
In step 201, the mobile tag 14 continuously broadcasts an identification message including a Unique tag Identifier, which may be a Universal Unique Identifier (UUID), but not limited thereto.
In step 202, for each first receiver 12, when the first receiver 12 receives the identification message containing the tag identifier corresponding to the mobile tag 14, the first receiver 12 calculates a wireless signal strength between the first receiver 12 and the mobile tag 14 according to the identification message.
In step 203, the first receiver 12 transmits a wireless signal message including a receiver identifier corresponding to itself, the tag identifier, and the wireless signal strength to the first gateway 11.
In step 204, for each first receiver 12 that transmitted the wireless signal message within a current time interval, the first gateway 11 calculates a signal density value of the mobile tag relative to the first receiver within the current time interval according to the wireless signal message received from the first receiver 12 within the current time interval.
With reference to fig. 3, the step 204 includes a sub-step 2041, a sub-step 2042, a sub-step 2043, a sub-step 2044, a sub-step 2045, a sub-step 2046, a sub-step 2047, and a sub-step 2048, and the sub-steps of the step 204 are described below.
In step 2041, for each first receiver 12 that has transmitted the wireless signal information in a current time interval, the first gateway 11 calculates a receiving time of all the wireless signal information related to the mobile tag 14 from the first receiver 12 received in the current time interval and an average wireless signal strength related to the first receiver 12 and the mobile tag 14 from the first receiver 12, for example, the first receiver 12 transmits 10 wireless signal information corresponding to the mobile tag 14 to the first gateway 11 in 3:00AM to 3:01AM, wherein the wireless signal strength corresponding to each wireless signal information is-75, -70, -77, -80, -60, -65, -71, -68, -72, and-69, the first gateway 11 calculates the receiving times of the first receiver as 10 according to all the wireless signal information from the first receiver 12 between 3:00AM and 3:01AM, and the average wireless signal intensity is
[(-75)+(-70)+(-77)+(-80)+(-60)+(-65)+(-71)+(-68)+(-72)+(-69)]/10＝-70.7。
In the step 2042, the first gateway 11 determines whether the first receiver 12 is selected as a first target receiver 12 in a previous time interval prior to and closest to the current time interval, wherein the first target receiver 12 is the first receiver 12 with the signal density value having the largest value among the first receivers 12, the step 2043 is performed when the first gateway 11 determines that the first receiver 12 is selected as the first target receiver 12 in the previous time interval, and the step 2045 is performed when the first gateway 11 determines that the first receiver 12 is not selected as the first target receiver 12 in the previous time interval.
In step 2043, the first gateway 11 selects N previous time intervals that are consecutive in the current time zone, wherein the first receiver 12 is selected as the first target receiver 12 in all of the N previous time intervals, but is not selected as the first target receiver 12 in the N +1 th previous time interval.
In step 2044, the first gateway 11 determines whether N is greater than or equal to an upper limit, and if the first gateway 11 determines that N is greater than or equal to the upper limit, step 2046 is performed, and if the first gateway 11 determines that N is not greater than or equal to the upper limit, step 2047 is performed.
In step 2045, the first gateway 11 sets a number of times the first receiver 12 is selected as the first target receiver 12 to zero.
In step 2046, the first gateway 11 sets a selection count of the first receiver 12 selected as the first target receiver 12 as the upper limit.
In step 2047, the first gateway 11 sets a selection number of times the first receiver 12 is selected as the first target receiver 12 to be N.
For example, the upper limit value is 50, each time interval is one minute, when the first gateway 11 determines that the first receiver 12 is not the first target receiver 12 in 2:59AM to 3:00AM, the first gateway 11 sets the selected number corresponding to the first receiver 12 to zero, when the first gateway 11 determines that the first receiver 12 is selected as the first target receiver 12 in 2:59AM to 3:00AM, the first gateway 11 selects 60 time intervals of 2:00AM to 3:00AM, wherein the first receiver 12 is selected as the target first receiver 12 in 2:00AM to 3:00AM, and the first receiver 12 is not selected as the first target receiver 12 in 1:59AM to 2:00AM, the first gateway determines 60 to be greater than the upper limit value 50, and sets the selected number corresponding to the first receiver 12 to 50, on the other hand, if the first gateway 11 selects 30 time intervals of 2:30AM to 3:00AM, where the first receiver 12 is selected as the target first receiver 12 in 2:30AM to 3:00AM and the first receiver 12 is not selected as the first target receiver 12 in 2:29AM to 2:30AM, the first gateway determines that 30 is not greater than the upper limit 50 and sets the selection number corresponding to the first receiver 12 to 30.
In step 2048, the first gateway 11 calculates the signal density value of the mobile tag 14 relative to the first receiver 12 in the current time interval according to the receiving times, the average wireless signal strength, and the selecting times, wherein the first gateway 11 calculates the signal density value according to the following formula: result 0.6+ C0.2 + T0.2
Wherein Result is the signal density value, R is the average wireless signal strength, C is the receiving number, and T is the selected number, for example, if the average wireless signal strength corresponding to the first receiver 12 is-70.7, the receiving number is 10, and the selected number is 0, then the signal density value corresponding to the first receiver 12 is-70.7 + 0.6+10 + 0.2-40.42.
In step 205, the first gateway 11 selects the first target receiver 12 with the highest signal density value from each first receiver 12 that transmitted the wireless signal information within the current time interval according to the calculated signal density values. It should be noted that when there are a plurality of first receivers 12 corresponding to the maximum signal density value, the first gateway 11 randomly selects one of the first receivers 12 corresponding to the maximum signal density value as the first target receiver 12.
In step 206, the first gateway 11 uses the position of the first target receiver 12 as a first positioning position of the object to be positioned 13 within the current time interval, and transmits a position message containing the first positioning position of the object to be positioned 13 and the signal density value corresponding to the first target receiver 12 to the server 1.
Referring to fig. 4, a second embodiment of the positioning system of the present invention is similar to the first embodiment, and the same parts are not repeated, the differences are: the second embodiment further includes a second gateway 11 connected to the server 1 via the communication network 100, and a plurality of second receivers 12 connected to the second gateway 11 via the communication network 100, respectively, the second receivers 12 are disposed in the space and located at different positions from the first receivers 12, respectively, and the position of each second receiver 12 is different, in the positioning method executed by the second gateway 11 and the second receivers 12, the steps executed by the relevant first receivers 12 are executed by the second receivers 12, the steps executed by the relevant first gateway 11 are executed by the second gateway 11, in addition, the server 1 further obtains the positioning position of the object to be positioned 13 in the current time interval by a determination method, and how the server 1 obtains the positioning position information from the first gateway 11 and the position information from the second gateway 11, the method for obtaining the location position of the object to be located 13 in the current time interval includes a step 301 and a step 302.
In step 301, the server 1 selects a target receiver 12 corresponding to the maximum signal density value from the first target receiver 12 and the second target receiver 12 according to all location information received from at least one of the first gateway 11 and the second gateway 11 in the current time interval.
In step 302, the server 1 uses the position of the pointer receiver 12 as the positioning position of the object to be positioned 13 in the current time interval.
For example, if the server 1 receives two pieces of location information from the first gateway 11 and the second gateway 11, respectively, wherein the signal density value corresponding to the first target receiver 12 in the location information corresponding to the first gateway 11 is-40.42, and the signal density value corresponding to the second target receiver 12 in the location information corresponding to the second gateway 11 is-30.48, the server determines that-30.48 is greater than-40.42, selects the second target receiver 12 as the pointer receiver 12, and uses the location of the pointer receiver 12 as the location position of the object to be located 13 in the current time interval.
In summary, in the positioning system of the present invention, the identification message is continuously broadcast by the mobile tag 14 installed on the object 13 to be positioned, so that at least one of the first receiver 12 and the second receiver 12 receiving the identification message generates and transmits the wireless signal information to the corresponding first gateway 11 and/or the corresponding second gateway 11 according to the identification message, so that the first gateway 11 and/or the second gateway 11 selects the first target receiver 12 and/or the second target receiver 12 from the first receiver 12 and/or the second receiver 12 according to all the received wireless signal information, and the position of the first target receiver 12 and/or the second target receiver 12 is used as the first positioning position or the second positioning position of the object 13 to be positioned, in addition, the mobile tag 14 only needs to broadcast the identification message, so that the mobile device with high energy consumption such as a mobile phone and a tablet computer can be converted into a device with low energy consumption such as a smart bracelet and a smart key ring, the hardware cost of the mobile tag 14 is reduced, meanwhile, the mobile tag is convenient to be worn on the object to be positioned, and on the other hand, the first receiver 12 and the second receiver 12 only need to receive the identification message without additionally sending other wireless signals, so that the interference of the wireless signals can be reduced, and the purpose of the invention can be really achieved.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.
Claims (7)
1. A positioning system using a plurality of wireless signal receivers for positioning an object to be positioned that is movable on a floor in a space, comprising: the positioning system comprises a positioning device and a positioning system,
a first gateway;
a mobile tag adapted to be mounted on the object to be located and configured to continuously broadcast an identification message including a unique tag identifier;
and a plurality of first receivers, each of which is connected to the first gateway through a communication network and is adapted to be disposed in the space and located at different positions, each of the first receivers being configured to continuously receive the identification message from the mobile tag within a communicable range, and for each of the first receivers, when the first receiver receives the identification message including the tag identifier corresponding to the mobile tag, the first receiver calculates a wireless signal strength between the first receiver and the mobile tag according to the identification message, and transmits a wireless signal information including a receiver identifier corresponding to the first receiver, the tag identifier, and the wireless signal strength to the first gateway; the first gateway selects a first target receiver from each first receiver which has transmitted the wireless signal information in a current time interval according to all the wireless signal information received from at least one of the first receivers in the current time interval, and takes the position of the first target receiver as a first positioning position of the object to be positioned in the current time interval;
the first gateway calculates a signal density value of the mobile tag relative to each first receiver that transmitted the wireless signal information within the current time interval according to all wireless signal information received from at least one of the first receivers within the current time interval, and selects the first target receiver with the maximum signal density value from each first receiver that transmitted the wireless signal information within the current time interval according to the calculated signal density values;
for each first receiver that transmitted the wireless signal information in the current time interval, the first gateway calculates a receiving time of receiving all the wireless signal information from the first receiver related to the mobile tag and an average wireless signal strength between the first receiver and the mobile tag according to the wireless signal information received from the first receiver in the current time interval, and determines whether the first receiver is selected as the first target receiver in a previous time interval that is previous to the current time interval and closest to the current time interval, when the first gateway determines that the first receiver is selected as the first target receiver in the previous time interval, the first gateway selects N consecutive previous time intervals that are previous to the current time interval, the first receiver is selected as the first target receiver in the N previous time intervals, and is not selected as the first target receiver in the (N + 1) th previous time interval, and a selection time of the first receiver being selected as the first target receiver is set to N, when the first gateway determines that the first receiver is not selected as the first target receiver in the previous time interval, the first gateway sets the selection time of the first receiver to zero, and the first gateway calculates the signal density value of the mobile tag relative to the first receiver in the current time interval according to the reception time, the average wireless signal strength and the selection time, wherein N ≧ 1.
2. The positioning system of claim 1, wherein: when N is larger than or equal to an upper limit value, the first gateway also changes the selected times of the first receiver to the upper limit value.
3. The positioning system of claim 2, wherein: for each first receiver, the first gateway calculates the signal density value of the mobile tag associated with the first receiver in the current time zone according to the following formula:
Result＝R*0.6+C*0.2+T*0.2
wherein Result is the signal density value, R is the average wireless signal strength, C is the receiving times, and T is the selecting times.
4. A positioning system as recited in claim 3, further comprising: when the first gateway calculates a plurality of signal density values corresponding to the maximum values, the first gateway randomly selects one of the first receivers corresponding to the maximum signal density value as the first target receiver.
5. The positioning system of claim 1, wherein: the mobile tag continuously broadcasts the identification message by using the Bluetooth communication technology.
6. The positioning system of claim 1, wherein: the positioning system further comprises: a plurality of second receivers adapted to be disposed in the space and located at different positions from the first receivers, respectively, and each of the second receivers having different positions, each of the second receivers being configured to continuously receive the identification message from the mobile tag within a communicable range, for each of the second receivers, when the second receiver receives the identification message including the tag identifier corresponding to the mobile tag, the second receiver calculates a wireless signal strength between the second receiver and the mobile tag according to the identification message, and generates a wireless signal information including a receiver identifier corresponding to the second receiver, the tag identifier, and the wireless signal strength; a second gateway, connected to the second receivers through the communication network, the second gateway selecting a second target receiver from each second receiver that transmitted the wireless signal information in the current time interval according to all the wireless signal information received from at least one of the second receivers in the current time interval, and using the position of the second target receiver as a second positioning position of the object to be positioned in the current time interval; the server is connected with the first gateway and the second gateway through the communication network; the first gateway continuously transmits location information including a first location position related to the object to be located and a signal density value corresponding to the first target receiver to the server, the second gateway continuously transmits location information including a second location position related to the object to be located and a signal density value corresponding to the second target receiver to the server, and the server selects a pointer receiver from the first target receiver and the second target receiver according to all the location information received from at least one of the first gateway and the second gateway in the current time interval and takes the location of the pointer receiver as the location position of the object to be located in the current time interval.
7. The positioning system of claim 6, wherein: the server selects the target receiver with the maximum signal density value from the first target receiver and the second target receiver according to all the location information received from at least one of the first gateway and the second gateway in the current time interval.
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