CN111998857A - System and method for positioning indoor object position in real time - Google Patents
System and method for positioning indoor object position in real time Download PDFInfo
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Abstract
The invention relates to the field of positioning and navigation, in particular to a system and a method for positioning the position of an indoor object in real time, which can realize high-precision positioning of the indoor object with a Bluetooth module under the condition that an indoor GPS signal is weak or does not have the GPS signal. The invention relates to a system for positioning the position of an indoor object in real time, which comprises Bluetooth positioning node devices and position positioning devices, wherein the Bluetooth positioning node devices are distributed indoors and are in wireless connection with the position positioning devices; the Bluetooth positioning node device is used for measuring the distance of an object in the measuring range of the Bluetooth positioning node device in real time and reporting the measured distance and position information to the position positioning device; and the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the mac address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned. The invention is suitable for high-precision positioning of indoor objects with Bluetooth modules.
Description
Technical Field
The invention relates to the field of positioning navigation, in particular to a system and a method for positioning the position of an indoor object in real time.
Background
The indoor position navigation system is widely used in daily travel activities of people, the traditional indoor position navigation system is mainly realized by adopting a mode of a GPS positioning navigation technology and a WIFI auxiliary positioning navigation technology, wherein the GPS positioning navigation technology can acquire longitude and latitude information of the position where an object is located, the position precision of the GPS positioning navigation technology is between ten meters and one hundred meters, and the WIFI access point can position peripheral WIFI access equipment at a meter level. Due to the adoption of the two technologies, the traditional indoor position navigation system has obvious use scene defects, and one is that the indoor (especially underground indoor) GPS signal is very weak or not, so that the longitude and latitude information of an object cannot be accurately positioned; secondly, the WIFI access point is high in power consumption and limited in coverage area, energy is wasted due to large-scale deployment, and the WIFI access point is contrary to energy conservation, emission reduction and green earth; thirdly, the positioning precision of the current indoor position is not enough, and the accurate positioning and navigation can not be realized. The above all limit the wide use of the traditional indoor position navigation system, and also seriously affect the practical experience of the user in the using process.
Disclosure of Invention
The invention aims to provide a system and a method for positioning the position of an indoor object in real time, which can realize high-precision positioning of the indoor object with a Bluetooth module under the condition that an indoor GPS signal is weak or does not have the GPS signal, and provide basic technical support for scenes such as indoor navigation, indoor motion trail tracking and the like.
The invention adopts the following technical scheme to realize the aim, and the system for positioning the position of an indoor object in real time is applied to positioning the indoor object with a Bluetooth module and comprises Bluetooth positioning node devices and position positioning devices, wherein the Bluetooth positioning node devices are distributed indoors and are in wireless connection with the position positioning devices;
the Bluetooth positioning node device is used for measuring the distance of an object in the measuring range of the Bluetooth positioning node device in real time and reporting the measured distance and position information to the position positioning device;
and the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the mac address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
Further, the position locating device is also used for setting coordinate values of all bluetooth positioning node devices, recording and maintaining basic information of each bluetooth positioning node device, and storing the collected distance and position information into a position information database.
Further, the distance position information includes: the mac address of the bluetooth positioning node device, the mac address of the bluetooth module of the object to be positioned, and the distance between the bluetooth positioning node device and the object to be positioned.
Further, the system further comprises a position collecting device, wherein the position collecting device comprises a Bluetooth module and a wifi module, and is used for collecting distance and position information detected by the Bluetooth positioning node device in real time and reporting the collected distance and position information to the position positioning device.
Furthermore, the position locating device is also used for configuring and setting the bluetooth positioning node device managed by each position collecting device, and each position collecting device only collects and reports the distance position information of the bluetooth positioning node devices in the configuration list through configuration.
Further, the position locating device is also used for managing basic information of the object to be located, and the basic information comprises a mac address.
Furthermore, the number of the Bluetooth positioning node devices is multiple, and the Bluetooth positioning node devices are arranged and distributed indoors in a matrix manner.
The method for positioning the position of the indoor object in real time is applied to the system for positioning the position of the indoor object in real time, and comprises the following steps:
the method comprises the following steps that (1) a Bluetooth positioning node device carries out real-time distance measurement on an object in a measurement range of the Bluetooth positioning node device and reports the measured distance position information to a position positioning device;
and (2) the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the physical address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
Further, the positioning by using the multi-point distance matrix includes:
A. setting the mac address information of a Bluetooth module of an object to be positioned;
B. extracting the position information with the shortest distance to the object to be positioned in the latest time period from the position information database according to the set mac address information;
C. calculating mac address information of the Bluetooth positioning node device closest to the object to be positioned according to the shortest position information;
D. acquiring the coordinates of the Bluetooth positioning node device according to the mac address information of the nearest Bluetooth positioning node device;
E. taking the coordinates in the step D as an original point, and extracting mac address information of 8 adjacent Bluetooth positioning node devices at the coordinate position;
F. according to the mac address in the step E, extracting distance position information of 8 adjacent Bluetooth positioning node devices relative to the object to be positioned from a position information database;
G. sequencing the 8 distance positions in an ascending order according to the length of the distance, judging the position relation between the object to be positioned and the original point, and determining 4 Bluetooth positioning node devices closest to the object to be positioned;
H. normalizing the object to be positioned and the 4 Bluetooth positioning node devices closest to the object to be positioned into the plane coordinates of the position positioning device, and calculating the accurate position of the object to be positioned.
Further, in step H, calculating the precise position of the object to be positioned includes:
(1) setting the vertical height between an object to be positioned and the Bluetooth positioning node device, taking the distance between the object to be positioned and the Bluetooth positioning node device as a bevel edge, and sequentially calculating the horizontal distance between 4 Bluetooth positioning node devices and the object to be positioned through the Pythagorean theorem;
(2) two adjacent Bluetooth positioning node devices are randomly selected from the 4 Bluetooth positioning node devices to form a triangle with the object to be positioned, and the transverse distance and the longitudinal distance from the object to be positioned to the coordinate origin are calculated through the cosine law;
(3) and converting the transverse distance and the longitudinal distance from the object to be positioned to the origin of coordinates into the distance in the basic coordinate system of the position positioning device, thereby finishing the accurate positioning of the position of the object to be positioned in the room.
The Bluetooth positioning node devices are distributed indoors and are in wireless connection with the position positioning device; in order to improve the positioning accuracy, the number of the Bluetooth positioning node devices can be multiple, and the Bluetooth positioning node devices are arranged and distributed indoors in a matrix manner; the Bluetooth positioning node device carries out real-time distance measurement on an object within the measurement range of the Bluetooth positioning node device and reports the measured distance position information to the position positioning device; when the indoor area is large, in order to improve the signal strength and the adaptability, a position collecting device is added, the position collecting device is respectively connected with a Bluetooth positioning node device and a position positioning device, the position positioning device is configured and set with the Bluetooth positioning node devices managed by each position collecting device, the Bluetooth positioning node devices report distance position information to the position collecting devices, the position collecting devices report the distance position information to the position positioning device, and the position positioning device adopts multipoint distance matrix positioning according to the distance position information and the Bluetooth module mac address information of an object to be positioned and calculates the real-time position information of the object to be positioned in the room; the method and the device realize high-precision positioning of the indoor object with the Bluetooth module under the condition that the indoor GPS signal is weak or no GPS signal exists, provide basic technical support for scenes such as indoor navigation, indoor motion trail tracking and the like, and show wide technical applicability and market application prospect.
Drawings
Fig. 1 is a block diagram of a system for real-time location of an indoor object according to the present invention.
FIG. 2 is a schematic diagram of key points selected by the method for real-time locating the position of an indoor object according to the present invention.
Fig. 3 is a schematic diagram of calculating the coordinate position of the indoor object in the method for positioning the position of the indoor object in real time according to the present invention.
Fig. 4 is a flow chart of a method for locating the position of an indoor object in real time according to the present invention.
In the drawing, 101 is a bluetooth positioning node device, 102 is a mesh network formed by a plurality of bluetooth positioning node devices arranged and deployed in an indoor space in a matrix form, 201 is a position collecting device, 301 is a position positioning device, D0 is an object to be positioned, C0 is a bluetooth positioning node device closest to D0, B1-B8 are bluetooth positioning node devices adjacent to C0, D1-D8 is a distance from the bluetooth positioning node devices of B1-B8 to D0, X1 is a transverse distance, and Y1 is a longitudinal distance.
Detailed Description
The invention relates to a system for positioning the position of an indoor object in real time, which is applied to positioning an indoor object with a Bluetooth module and comprises Bluetooth positioning node devices and position positioning devices, wherein the Bluetooth positioning node devices are distributed indoors and are in wireless connection with the position positioning devices;
the Bluetooth positioning node device is used for measuring the distance of an object in the measuring range of the Bluetooth positioning node device in real time and reporting the measured distance and position information to the position positioning device;
and the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the mac address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
The position positioning device is also used for setting coordinate values of all the Bluetooth positioning node devices, recording and maintaining basic information of each Bluetooth positioning node device and storing the collected distance and position information into a position information database.
The distance position information includes: the mac address of the bluetooth positioning node device, the mac address of the bluetooth module of the object to be positioned, and the distance between the bluetooth positioning node device and the object to be positioned.
In order to improve the signal strength and the adaptability, the system for positioning the indoor object position in real time further comprises a position collecting device, wherein the position collecting device comprises a Bluetooth module and a wifi module, and is used for collecting distance position information detected by the Bluetooth positioning node device in real time and reporting the collected distance position information to the position positioning device.
The position locating device is also used for configuring and setting the Bluetooth locating node device managed by each position collecting device, and each position collecting device only collects and reports the distance position information of the Bluetooth locating node devices in the configuration list through configuration.
The position locating device is also used for managing basic information of the object to be located, and the basic information comprises a mac address.
In order to improve the positioning accuracy, the number of the Bluetooth positioning node devices is multiple, and the Bluetooth positioning node devices are arranged and distributed indoors according to a matrix type to form a positioning network.
In the system for positioning the position of an indoor object in real time according to an embodiment of the present invention, as shown in fig. 1, a positioning mesh network 102 formed by a plurality of bluetooth positioning node devices 101 is connected to a position collecting device 201 through bluetooth, and the position collecting device 201 is connected to the position positioning device through WIFI.
The invention discloses a method for positioning the position of an indoor object in real time, the flow chart of the method is shown in figure 4, and the method comprises the following steps:
step 101: the Bluetooth positioning node device carries out real-time distance measurement on an object within the measurement range of the Bluetooth positioning node device and reports the measured distance position information to the position positioning device;
step 102: and the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the physical address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
In step 102, the specific implementation method for positioning by using the multi-point distance matrix includes:
I. setting the mac address information of a Bluetooth module of an object to be positioned;
J. extracting the position information with the shortest distance to the object to be positioned in the latest time period from the position information database according to the set mac address information;
K. calculating mac address information of the Bluetooth positioning node device closest to the object to be positioned according to the shortest position information;
l, acquiring the coordinates of the Bluetooth positioning node device according to the mac address information of the nearest Bluetooth positioning node device;
m, taking the coordinates in the step L as an original point, and extracting mac address information of 8 adjacent Bluetooth positioning node devices at the coordinate position;
n, extracting distance position information of 8 adjacent Bluetooth positioning node devices relative to the object to be positioned from a position information database according to the mac address in the step M;
o, sequencing the 8 distance positions in an ascending order according to the length of the distance, judging the position relation between the object to be positioned and the original point, and determining 4 Bluetooth positioning node devices closest to the object to be positioned;
and P, normalizing the object to be positioned and the 4 Bluetooth positioning node devices closest to the object to be positioned into the plane coordinates of the position positioning device, and calculating the accurate position of the object to be positioned.
In step P, the specific implementation step of calculating the accurate position of the object to be positioned includes:
(1) setting the vertical height between an object to be positioned and the Bluetooth positioning node device, taking the distance between the object to be positioned and the Bluetooth positioning node device as a bevel edge, and sequentially calculating the horizontal distance between 4 Bluetooth positioning node devices and the object to be positioned through the Pythagorean theorem;
(2) two adjacent Bluetooth positioning node devices are randomly selected from the 4 Bluetooth positioning node devices to form a triangle with the object to be positioned, and the transverse distance and the longitudinal distance from the object to be positioned to the coordinate origin are calculated through the cosine law;
(3) and converting the transverse distance and the longitudinal distance from the object to be positioned to the origin of coordinates into the distance in the basic coordinate system of the position positioning device, thereby finishing the accurate positioning of the position of the object to be positioned in the room.
Examples
In the embodiment, the real-time location of the driving automobile in the underground parking lot environment is taken as an example, the automobile is provided with the vehicle-mounted Bluetooth module, the Bluetooth module supports the Bluetooth 5.1 and above standards, the automobile starts the Bluetooth module to communicate when driving into the entrance of the underground parking lot, and the position location device of the underground parking lot acquires the mac address information of the vehicle-mounted Bluetooth module of the automobile and registers and stores the mac address information.
As shown in fig. 1, it is a composition diagram of the real-time positioning system for the position of an indoor object of the present invention, that is, the positioning device for the position of an underground parking lot of this embodiment:
wherein 101 refers to a bluetooth positioning node device at a fixed position, the coordinate position information of the 101 device is configured and stored by a 301 position positioning device, the bluetooth positioning node device 101 reports the distance position information between the surrounding bluetooth devices and the device to a position collecting device 201 in real time, in this example, the distance position information between the bluetooth positioning node device 101 and the automobile bluetooth device is reported, and the bluetooth positioning node device 101 is connected with the position collecting device 201 in a bluetooth manner;
wherein, 102 refers to a position location network, which is a grid network formed by arranging and deploying a plurality of bluetooth location node devices 101 in an indoor space in a matrix manner, and the grid network 102 completely covers all indoor areas;
wherein 201 refers to a location collection device; the position collection device 201 is internally provided with a Bluetooth communication module and a WIFI communication module; the position collection device 201 communicates with the bluetooth positioning node device 101 through bluetooth; a position collecting device 201 manages and collects position information of a plurality of Bluetooth positioning node devices 101, wherein the number of the managed Bluetooth positioning node devices 101 can be configured through a position positioning device 301, and the position collecting device 201 reports distance position information between the Bluetooth positioning node devices 101 and automobile Bluetooth equipment reported by the Bluetooth positioning node devices 101 to the position positioning device 301 in real time;
the position locating device 301 maintains a set of planar rectangular coordinate systems and sets the origin coordinate position to ensure that the entire indoor position is in the first quadrant of the coordinate system; the position positioning device 301 is connected with the position collecting device 201 through a local area network, collects position information reported by all the position collecting devices 201 in the whole network, adds time marking information to the distance position information, and uniformly stores the distance position information into a position information database; the position locating device 301 saves all bluetooth physical address (mac address) information of the foreign third party object, which in this embodiment corresponds to the mac address information of the vehicle-mounted bluetooth module installed on the vehicle; the position positioning device 301 stores bluetooth physical address information of all the bluetooth positioning node devices 101; the position positioning device 301 stores coordinate position information of all the bluetooth positioning node devices 101 in a plane rectangular coordinate system;
when the automobile travels, the bluetooth positioning node device 101 along the way reports distance and position information in real time, collects the information through the position collecting device 201, and finally reports the information to the position positioning device 301 for storage, and the position positioning device 301 can obtain the coordinate position of the automobile in the underground parking lot at a certain moment in real time through the collected distance and position information, and the specific processing steps include:
1. selecting a central positioning node: selecting a Bluetooth positioning node device 101 which is the shortest distance from the automobile at a set time point;
2. selecting key positioning nodes: taking the central positioning node as a center, extracting distance information from 8 nodes around the central positioning node to the automobile, and selecting a key positioning node through distance comparison;
3. and (3) positioning the coordinate position: and calculating the coordinate position of the automobile in the underground garage coordinate system through the Pythagorean theorem and the cosine theorem according to the distance information between the key nodes and the automobile and the distance information between the key nodes, and finishing the accurate positioning of the automobile position.
As shown in fig. 2, it is a key positioning point selection diagram of the indoor object position of the present invention:
wherein D0 refers to a third-party object to be located, which in this embodiment is a traveling car;
wherein, C0 refers to the nearest Bluetooth positioning node device from the D0 automobile;
eight Bluetooth positioning node devices B1, B2, B3, B4, B5, B6, B7 and B8 are eight Bluetooth positioning devices which are respectively positioned at the front, the back, the left and the right of the C0 and take the C0 as the center;
wherein D1, D2, D3, D4, D5, D6, D7 and D8 respectively represent the distance values from eight Bluetooth positioning node devices, namely B1, B2, B3, B4, B5, B6, B7 and B8, to a D0 automobile, and the distance values are accurate to centimeters;
the key positioning point selection algorithm comprises the following steps:
left or right side: if D1> D3 and D8> D4 and D7> D5, then the D0 car is located to the right of the C0 device, otherwise the D0 car is located to the left of the C0 device;
front or rear: if D1> D7 and D2> D6 and D3> D5, then the D0 car is located behind the C0 device, otherwise the D0 car is located in front of the C0 device;
with the final calculation that the D0 car is located in front of and to the right of the grid centered at C0, the final key positioning device chosen is: c0, B2, B3 and B4.
As shown in fig. 3, it is a schematic diagram of the calculation of the position coordinates of the indoor object according to the present invention:
wherein D0 is a traveling car in the present embodiment;
where C0 is the Bluetooth locator closest to the car;
wherein B1, B2, B3 are key positioning point devices;
in the present embodiment, the coordinate position of C0 in the underground parking lot coordinate system is set to (a, b), and it is known from the distance information that: the distance from C0 to D0 is L1; the distance of D0 to B1 is L2; the distance from C0 to B1 is L3. Because the lengths of the three sides of the triangle are known, the relative coordinates of the D0 automobile relative to the C0 device can be calculated to be (X1 and Y1) through the cosine theorem and the Pythagorean theorem, and the coordinates are converted into the coordinate system of the whole underground parking lot to be (a + X1 and b + Y1), so that the coordinate position of the automobile in the underground parking lot is positioned at the moment.
In conclusion, the invention can realize high-precision positioning of an indoor object with the Bluetooth module under the condition that an indoor GPS signal is weak or no GPS signal exists, provides basic technical support for scenes such as indoor navigation, indoor motion trail tracking and the like, and shows wide technical applicability and market application prospect.
Claims (10)
1. The system for positioning the position of an indoor object in real time is applied to positioning an indoor object with a Bluetooth module and is characterized by comprising Bluetooth positioning node devices and position positioning devices, wherein the Bluetooth positioning node devices are distributed indoors and are in wireless connection with the position positioning devices;
the Bluetooth positioning node device is used for measuring the distance of an object in the measuring range of the Bluetooth positioning node device in real time and reporting the measured distance and position information to the position positioning device;
and the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the mac address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
2. The system according to claim 1, wherein the position-locating device is further configured to set coordinate values of all bluetooth positioning node devices, record and maintain basic information of each bluetooth positioning node device, and store the collected distance and position information in the position information database.
3. A system for real-time location of a position of an indoor object as recited in claim 1, wherein said distance position information comprises: the mac address of the bluetooth positioning node device, the mac address of the bluetooth module of the object to be positioned, and the distance between the bluetooth positioning node device and the object to be positioned.
4. The system for real-time positioning of the position of an indoor object according to claim 1, further comprising a position collecting device, wherein the position collecting device comprises a bluetooth module and a wifi module, and the position collecting device collects the distance position information detected by the bluetooth positioning node device in real time through the bluetooth module and reports the collected distance position information to the position positioning device through the wifi module.
5. The system according to claim 4, wherein the position locating device is further configured to configure and set a bluetooth positioning node device managed by each position collecting device, and the configuration enables each position collecting device to collect only distance position information of the bluetooth positioning node devices reported in the configuration list.
6. The system according to claim 1, wherein the position-locating device is further configured to manage basic information of the object to be located, the basic information including a mac address.
7. The system for real-time locating the position of an indoor object according to claim 1, wherein the number of the bluetooth locating node devices is plural and distributed in a matrix arrangement indoors.
8. The method for real-time positioning the position of an indoor object is applied to the system for real-time positioning the position of an indoor object according to any one of claims 1 to 7, and comprises the following steps:
the method comprises the following steps that (1) a Bluetooth positioning node device carries out real-time distance measurement on an object in a measurement range of the Bluetooth positioning node device and reports the measured distance position information to a position positioning device;
and (2) the position positioning device adopts a multipoint distance matrix for positioning according to the distance position information and the physical address information of the Bluetooth module of the object to be positioned, and calculates the real-time position information of the indoor object to be positioned.
9. The method of claim 8, wherein the positioning with the multi-point distance matrix comprises:
A. setting the mac address information of a Bluetooth module of an object to be positioned;
B. extracting the position information with the shortest distance to the object to be positioned in the latest time period from the position information database according to the set mac address information;
C. calculating mac address information of the Bluetooth positioning node device closest to the object to be positioned according to the shortest position information;
D. acquiring the coordinates of the Bluetooth positioning node device according to the mac address information of the nearest Bluetooth positioning node device;
E. taking the coordinates in the step D as an original point, and extracting mac address information of 8 adjacent Bluetooth positioning node devices at the coordinate position;
F. according to the mac address in the step E, extracting distance position information of 8 adjacent Bluetooth positioning node devices relative to the object to be positioned from a position information database;
G. sequencing the 8 distance positions in an ascending order according to the length of the distance, judging the position relation between the object to be positioned and the original point, and determining 4 Bluetooth positioning node devices closest to the object to be positioned;
H. normalizing the object to be positioned and the 4 Bluetooth positioning node devices closest to the object to be positioned into the plane coordinates of the position positioning device, and calculating the accurate position of the object to be positioned.
10. The method of claim 9, wherein in step H, calculating the precise position of the object to be positioned comprises:
(1) setting the vertical height between an object to be positioned and the Bluetooth positioning node device, taking the distance between the object to be positioned and the Bluetooth positioning node device as a bevel edge, and sequentially calculating the horizontal distance between 4 Bluetooth positioning node devices and the object to be positioned through the Pythagorean theorem;
(2) two adjacent Bluetooth positioning node devices are randomly selected from the 4 Bluetooth positioning node devices to form a triangle with the object to be positioned, and the transverse distance and the longitudinal distance from the object to be positioned to the coordinate origin are calculated through the cosine law;
(3) and converting the transverse distance and the longitudinal distance from the object to be positioned to the origin of coordinates into the distance in the basic coordinate system of the position positioning device, thereby finishing the accurate positioning of the position of the object to be positioned in the room.
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| CN114323004A (en) * | 2021-12-28 | 2022-04-12 | 北京骑胜科技有限公司 | Positioning method and system |
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