CN113115207B - Indoor positioning method, device, equipment and computer readable storage medium - Google Patents
Indoor positioning method, device, equipment and computer readable storage medium Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses an indoor positioning method, an indoor positioning device, indoor positioning equipment and a computer readable storage medium, wherein the indoor positioning method comprises the following steps: acquiring all first beacon signals received by a Bluetooth array, and determining initial distances between an intelligent device and all terminals corresponding to the Bluetooth array according to each first beacon signal; determining all second beacon signals received by the intelligent equipment, and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal; and adjusting each initial distance according to each theoretical distance to acquire all target distances, and determining indoor position information of the intelligent equipment according to each target distance. The invention improves the accuracy of indoor positioning.
Description
Technical Field
The present invention relates to the field of communications networks, and in particular, to an indoor positioning method, apparatus, device, and computer readable storage medium.
Background
With the rapid development of data services and multimedia services, there is an increasing demand for positioning and navigation, and particularly in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, etc., it is often necessary to determine indoor location information of an intelligent terminal (such as an express cabinet). However, the GPS (Global Positioning System ) and the beidou navigation positioning system are difficult to position indoors due to limitations of positioning time, positioning accuracy, complex indoor environments and other conditions. The microwave signal emitted by the constellation of the positioning system is too weak and has high frequency, namely, the microwave signal is required to propagate along a straight line and is difficult to pass through a wall, so that the signal cannot be received indoors and indoor positioning cannot be performed. Therefore, how to improve the accuracy of indoor positioning is a technical problem to be solved.
Disclosure of Invention
The invention mainly aims at providing an indoor positioning method, an indoor positioning device, indoor positioning equipment and a computer readable storage medium, and aims at solving the technical problem of how to improve the accuracy of indoor positioning.
In order to achieve the above object, the present invention provides an indoor positioning method, which includes the steps of:
acquiring all first beacon signals received by a Bluetooth array, and determining initial distances between intelligent equipment and terminals corresponding to the Bluetooth array according to the first beacon signals;
determining all second beacon signals received by the intelligent equipment, and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal;
and adjusting each initial distance according to each theoretical distance to acquire all target distances, and determining indoor position information of the intelligent equipment according to each target distance.
Optionally, the step of adjusting each of the initial distances according to each of the theoretical distances to obtain all target distances includes:
traversing each initial distance in turn, determining an traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if the initial distance is not matched with the target distance, adjusting the initial distance according to the traversal theoretical distance, and taking the adjusted initial distance as the target distance.
Optionally, the step of determining an initial distance between the smart device and the terminal corresponding to the bluetooth array according to each first beacon signal includes:
demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulation signal corresponding to each first beacon signal;
and determining target signals corresponding to the first beacon signals according to the demodulation signals, and determining initial distances between the intelligent equipment and terminals corresponding to the Bluetooth array according to the target signals.
Optionally, the step of determining an initial distance between the smart device and the terminal corresponding to the bluetooth array according to each target signal includes:
determining equipment position coordinates of the intelligent equipment in a preset position coordinate system according to each target signal;
and determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and the terminals according to the device position coordinates and the initial position coordinates.
Optionally, the step of determining a target signal corresponding to each first beacon signal according to each demodulation signal includes:
and denoising each demodulation signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
Optionally, the step of calculating a theoretical distance between the smart device and each of the terminals according to each of the second beacon signals includes:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent equipment and a terminal corresponding to the traversed second beacon signal.
Optionally, the step of calculating according to a preset signal attenuation model, the signal strength and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal includes:
determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
In addition, in order to achieve the above object, the present invention also provides an indoor positioning device, including:
the acquisition module is used for acquiring all first beacon signals received by the Bluetooth array, and determining the initial distance between the intelligent device and the terminal corresponding to the Bluetooth array according to each first beacon signal;
the calculation module is used for determining all second beacon signals received by the intelligent equipment and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal;
and the adjustment module is used for adjusting each initial distance according to each theoretical distance so as to acquire all target distances and determining indoor position information of the intelligent equipment according to each target distance.
In addition, to achieve the above object, the present invention also provides an indoor positioning apparatus including: the indoor positioning system comprises a memory, a processor and an indoor positioning program which is stored in the memory and can run on the processor, wherein the indoor positioning program realizes the steps of the indoor positioning method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon an indoor positioning program which, when executed by a processor, implements the steps of the indoor positioning method as described above.
According to the method, initial distances between the intelligent equipment and the terminals are determined according to the first beacon signals received by the Bluetooth array, theoretical distances between the intelligent equipment and the terminals are calculated according to all the second beacon signals received by the intelligent equipment, the initial distances are adjusted according to the theoretical distances, so that target distances are obtained, and indoor position information of the intelligent equipment is determined according to the target distances. Therefore, the phenomenon that the indoor positioning cannot be performed or the indoor positioning effect is poor in the prior art is avoided, and the accuracy of indoor positioning is improved.
Drawings
FIG. 1 is a schematic diagram of an indoor positioning device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the indoor positioning method of the present invention;
FIG. 3 is a schematic view of an indoor positioning device according to the present invention;
FIG. 4 is a signal attenuation diagram of the indoor positioning method of the present invention;
fig. 5 is a schematic view of a scenario in the indoor positioning method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of an indoor positioning device in a hardware running environment according to an embodiment of the present invention.
The indoor positioning device in the embodiment of the invention can be terminal devices such as a PC (personal computer) or a server (such as an X86 server) which is provided with a virtualization platform.
As shown in fig. 1, the indoor positioning apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and an indoor positioning program may be included in the memory 1005, which is one type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to call an indoor positioning program stored in the memory 1005 and perform operations in the following indoor positioning method embodiment.
Based on the hardware structure, the embodiment of the indoor positioning method is provided; the indoor positioning method in the embodiment is applied to assist a user to quickly find the positions of intelligent cabinets such as an indoor express cabinet and a storage cabinet. The indoor positioning method of the present embodiment is specifically described below.
Referring to fig. 2, fig. 2 is a flow chart of a first embodiment of an indoor positioning method according to the present invention, where the indoor positioning method includes:
step S10, acquiring all first beacon signals received by a Bluetooth array, and determining initial distances between intelligent equipment and terminals corresponding to the Bluetooth array according to the first beacon signals;
because the current positioning system is difficult to position indoors, the user cannot be helped to quickly find the intelligent terminal which the user needs to find, such as an intelligent express cabinet. Therefore, in order to facilitate the user to quickly find the place where the cabinet for storing the articles is located, the time for the user to find the cabinet is reduced, and the accuracy of indoor positioning is improved. In this embodiment, an indoor positioning system may be provided, and the indoor positioning system may be an intelligent express cabinet system. In addition, in this embodiment, the intelligent terminal may include an intelligent express cabinet, a smart phone, and other terminals that can send signals (such as bluetooth signals, wifi signals, and the like). In this embodiment, only the intelligent express cabinet is used for illustration.
And the indoor positioning system comprises beacons (can be a communication module such as 4G or 5G and the like and a Bluetooth module on the intelligent express cabinet industrial personal computer, and each beacon at least corresponds to one intelligent terminal) and intelligent equipment. Wherein the beacon is used for sending out a beacon signal (such as wifi signal and Bluetooth signal). The intelligent device is used for receiving the beacon signal sent by the beacon, and the beacon signal is sent by a receiving device, positioning software or a micro-letter applet in the intelligent device. And the positioning software or the WeChat applet calculates all intelligent terminals (such as an intelligent express cabinet) nearby the intelligent equipment through the beacon signals and the motion data sent by the beacon so as to realize the accurate positioning of the intelligent equipment.
In this embodiment, the location where each beacon is set may be any location set indoors, and may be set on different floors, but the distance between two adjacent beacons is not greater than the data receiving range where the receiving device in the smart device receives the beacon signal. Also in this embodiment, the first beacon signal may be a bluetooth signal, and the second beacon signal may be a wifi signal. The smart device may be a terminal, such as a smart phone, capable of receiving the beacon signal. The receiving device may be a bluetooth and wifi device that is self-contained in the smartphone.
And in addition, the wifi positioning is to place wireless hot spots in an indoor area, and the coordinates of the wifi equipment to be positioned are determined according to the signal intensity characteristics of the wifi equipment to be positioned and the topology structure of the wireless hot spots. The bluetooth positioning is based on RSSI (Received Signal Strength Indication, strength indication of received signals) signal strength positioning, i.e. bluetooth beacons are laid in indoor areas, signals are transmitted by routers, bluetooth devices receive signals and feed back, and when intelligent devices come into range, the distance between bluetooth devices in the system is estimated. In this embodiment, two positioning modes of wifi positioning and bluetooth positioning are integrated, so as to improve the accuracy of indoor positioning.
Therefore, in this embodiment, a plurality of beacons capable of transmitting bluetooth signals are set in an indoor environment, and a bluetooth array, such as a bluetooth matrix array, is set, and positioning software or a micro-letter applet of the intelligent device is started, so that the beacon signals, such as a first beacon signal and a second beacon signal, transmitted by the beacons and received by the bluetooth matrix array are automatically acquired through the positioning software or the micro-letter applet. In this embodiment, the first beacon signal may be a bluetooth signal, the second beacon signal may be a wifi signal, and the smart device may receive all the first beacon signals sent by the beacon, and the wifi search function in the smart device may be turned on to search for the second beacon signals (e.g., wifi signals) sent by the beacon. And there may be a plurality of received first beacon signals and a plurality of received second beacon signals. Therefore, all the first beacon signals can be demodulated first, and the target signals after demodulation and denoising of the first beacon signals can be determined according to the result of the demodulation process. And because the intelligent device receives the interference signal in addition to the first beacon signal when receiving the signal sent by the beacon, the signal received by the intelligent device needs to be demodulated so as to obtain the target signal. The target signal may be a signal having a data frame format, such as a bluetooth data frame format. The demodulation mode may be to limit the spectrum width of the first beacon signal by a gaussian low pass filter before modulation and demodulation, so as to obtain a demodulated signal value. In this embodiment, the number of the first beacon signals and the second beacon signals is the same, and the types of the first beacon signals and the second beacon signals are different.
After each target signal is obtained through calculation, the intelligent device can firstly determine initial position coordinates of the intelligent terminal (namely, the terminal corresponding to the Bluetooth array, such as an intelligent express cabinet) corresponding to each target signal in a position coordinate system set in advance, determine device position coordinates of the intelligent device in the position coordinate system, calculate a linear distance between the device position coordinates and the initial position coordinates, and take the linear distance as the initial distance. When the target signal is one, the initial distance is calculated directly according to the initial position coordinate and the device position coordinate corresponding to the target signal. When there are multiple target signals, the terminal where the beacon corresponding to each target signal is located (i.e. the intelligent terminal corresponding to the target signal) needs to be determined first, each target signal is traversed, the linear distance between the initial position coordinate corresponding to the traversed target signal and the device position coordinate is calculated, and the linear distance is used as the initial distance between the terminal where the beacon corresponding to the traversed target signal is located and the intelligent device.
Step S20, determining all second beacon signals received by the intelligent equipment, and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal;
in this embodiment, the smart device may also actively start a signal function of receiving the second beacon signal by itself, so that the smart device may receive the second beacon signal sent by each terminal in real time, for example, the smart device receives the wifi signal sent by each terminal. And when the intelligent device is determined to receive the second beacon signal, calculating a theoretical distance according to the received second beacon signal so as to correct the initial distance according to the theoretical distance and obtain a target distance. Therefore, the signal attenuation model set in advance can be determined first, and the signal intensity of the second beacon signal received by the intelligent device, such as the signal intensity of the wifi signal received by the intelligent mobile phone, can be determined. And inputting the signal strength into the signal attenuation model for calculation, and taking the value output by the signal attenuation model as the theoretical distance between the intelligent equipment and the terminal (namely the intelligent terminal) corresponding to the second beacon signal. Also in this embodiment, since the number of the first beacon signal and the second beacon signal is the same, that is, each intelligent terminal will transmit the first beacon signal and the second beacon signal. Therefore, the intelligent device may also receive a plurality of second beacon signals, but the theoretical distance corresponding to each second beacon signal is calculated in the same way, and the calculation can be performed according to the signal attenuation model.
In one embodiment, the calculation formula of the signal attenuation model may be lbs=32.45+20lgf+20lgd, where F is the frequency; d is distance in MHz; lbs is the loss value in km. For example, a wireless router of 100mv has a transmit power of 20dbm and a signal strength of 20-Lbs when the smart device is 10m from the wireless router. As another example, as shown in fig. 4, a free space 2.4Ghz signal attenuation plot has a signal attenuation value of 60db when the smart device is 10m from the smart terminal.
And step S30, adjusting each initial distance according to each theoretical distance to acquire all target distances, and determining indoor position information of the intelligent equipment according to each target distance.
After the theoretical distance and the initial distance between the intelligent device and each intelligent terminal are obtained through calculation, each initial distance can be adjusted according to each theoretical distance, namely, the initial distance corresponding to each theoretical distance can be determined first, then the initial distance is adjusted according to the theoretical distance corresponding to the initial distance, and the initial distance is adjusted until the initial distance is the same as the theoretical distance or the error is smaller than a certain value. And taking the adjusted initial distance as the target distance. And after the target distance between the intelligent device and each terminal is determined, the distance between the intelligent device and each terminal can be directly used as indoor position information of the intelligent device.
In addition, to assist understanding of indoor positioning in this embodiment, an example is described below, as shown in fig. 5, including A, B, C, D, E intelligent terminals, where each of the five intelligent terminals is provided with a corresponding beacon, and network connection is performed through a router and an external server cluster, and each of the beacons and the router are made to perform network connection. The Bluetooth matrix array is firstly arranged indoors, and positioning software or a WeChat applet in mobile equipment (namely intelligent equipment) automatically searches for signals of beacons (wifi and Bluetooth of an intelligent express cabinet), wherein the wifi signals are auxiliary means for signal positioning; the method comprises the steps that positioning software or a WeChat applet of an intelligent device obtains a first signal sent by a Bluetooth matrix array (namely a beacon), the first signal comprises a Bluetooth signal and an interference signal, the first signal is demodulated, noise interference is removed through a denoising device in the mobile device, a demodulated and denoised second signal is obtained, and a signal with a Bluetooth data frame format in the second signal is used as Bluetooth data received by an indoor Bluetooth array; calculating the initial position and the walking path of the mobile equipment from the intelligent express cabinet according to the signals with the Bluetooth data frame format; and inputting the signal intensity of the wifi signal searched by the mobile equipment wifi into a signal attenuation model for calculation to obtain a theoretical position, and adjusting the initial position and the walking path according to the theoretical position.
Based on the description of the embodiment of the indoor positioning method, when the intelligent cabinets such as the indoor express cabinets and the storage cabinets are positioned, the Bluetooth function and the wifi function of each express cabinet can be started first. And Bluetooth signals and wifi signals are sent to the periphery through intelligent terminals of the express cabinets. After the intelligent device (such as a mobile phone) is held by a user, the intelligent device receives Bluetooth signals sent by all express cabinets, and carries out demodulation processing and denoising processing on the received Bluetooth signals to obtain signals with Bluetooth data frame formats, if a plurality of signals with the Bluetooth data frame formats exist, the initial position coordinates of all the signals with the Bluetooth data frame formats in a position coordinate system set in advance and the equipment position coordinates of the intelligent device are directly determined, and the distance between the intelligent device and all the express cabinets is determined according to all the initial position coordinates and the equipment position coordinates, so that the user can quickly inquire the express cabinets to be used.
In this embodiment, by acquiring all first beacon signals received by a bluetooth array, determining an initial distance between an intelligent device and a terminal corresponding to the bluetooth array according to each first beacon signal; determining all second beacon signals received by the intelligent equipment, and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal; and adjusting each initial distance according to each theoretical distance to acquire all target distances, and determining indoor position information of the intelligent equipment according to each target distance. The method comprises the steps of determining initial distances between the intelligent device and each terminal according to each first beacon signal received by the Bluetooth array, calculating theoretical distances between the intelligent device and each terminal according to all second beacon signals received by the intelligent device, adjusting each initial distance according to each theoretical distance to obtain each target distance, and determining indoor position information of the intelligent device according to each target distance. Therefore, the phenomenon that the indoor positioning cannot be performed or the indoor positioning effect is poor in the prior art is avoided, and the accuracy of indoor positioning is improved.
Further, based on the first embodiment of the present invention, a second embodiment of the indoor positioning method of the present invention is provided, in this embodiment, step S30 in the foregoing embodiment adjusts each initial distance according to each theoretical distance, so as to obtain refinement of the step of the target distance, including:
step a, traversing each initial distance in turn, determining traversing theoretical distances corresponding to the traversed initial distances in each theoretical distance, and detecting whether the traversed initial distances are matched with the traversing theoretical distances;
in this embodiment, after the theoretical distance and the initial distance between the intelligent device and each intelligent terminal are obtained by calculation, each initial distance may be traversed in sequence, and the theoretical distance corresponding to the traversed initial distance is determined from each theoretical distance, and is used as the traversed theoretical distance. That is, firstly, determining the intelligent terminal corresponding to the traversed initial distance, determining the second beacon signal sent by the intelligent terminal, determining the theoretical distance corresponding to the second beacon signal, and taking the theoretical distance as the traversed theoretical distance. Then detecting whether the initial distance traversed is matched with the theoretical distance traversed, and executing different operations according to different detection results.
And b, if the initial distance is not matched with the initial distance, adjusting the initial distance according to the traversal theoretical distance, and taking the adjusted initial distance as a target distance.
When the initial distance of traversal is judged to be matched with the theoretical distance of traversal, the initial distance of traversal is determined to be equal to the theoretical distance of traversal, or the difference value between the two is smaller than a certain value, and at the moment, the initial distance of traversal can be directly used as the target distance between the intelligent device and the terminal corresponding to the initial distance of traversal. If the initial distance traversed and the theoretical distance traversed are not matched, the initial distance traversed can be adjusted according to the theoretical distance traversed until the initial distance traversed is adjusted to be the same as the theoretical distance traversed or the difference between the initial distance traversed and the theoretical distance traversed is smaller than a certain value, and then the adjusted initial distance is taken as the target distance.
In this embodiment, by traversing each initial distance, and when it is determined that the traversed initial distance and the traversed theoretical distance do not match, the traversed initial distance is adjusted according to the traversed theoretical distance, and the adjusted initial distance is used as the target distance, thereby ensuring the accuracy of the obtained target distance.
Further, the step of determining an initial distance between the intelligent device and the terminal corresponding to the bluetooth array according to each target signal includes:
step c, demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulation signal corresponding to each first beacon signal;
in this embodiment, after the intelligent device acquires the first beacon signals sent by the beacons, and determines that there are a plurality of received first beacon signals, demodulation processing needs to be performed on each first beacon signal, where the demodulation processing may be performed by limiting the spectrum width of the first beacon signal by using a gaussian low pass filter before modulation and demodulation, so as to obtain a demodulated signal value, that is, a demodulated signal corresponding to the first beacon signal. In this embodiment, each first beacon signal is demodulated in the same manner, so as to obtain a demodulation signal corresponding to each first beacon signal.
And d, determining target signals corresponding to the first beacon signals according to the demodulation signals, and determining initial distances between the intelligent equipment and terminals corresponding to the Bluetooth array according to the target signals.
After the demodulation signals corresponding to the first beacon signals are obtained, denoising processing is needed to be carried out on the demodulation signals, and data signals (such as data signals in Bluetooth data frame format) with data frame formats in the demodulation signals after denoising processing are used as target signals. When a plurality of target signals are determined, each target signal is traversed, the linear distance between the initial position coordinates corresponding to the traversed target signals and the equipment position coordinates is calculated, and the linear distance is used as the initial distance between the terminal where the beacons corresponding to the traversed target signals are located and the intelligent equipment.
In this embodiment, demodulation processing is performed on each first beacon signal according to a preset spectrum width to obtain each demodulation signal, a target signal is determined according to each demodulation signal, and an initial distance between the intelligent device and each terminal is determined according to the target signal, so that the effectiveness of the obtained initial distance is ensured.
Specifically, the step of determining an initial distance between the intelligent device and the terminal corresponding to the bluetooth array according to each target signal includes:
step e, determining the equipment position coordinates of the intelligent equipment in a preset position coordinate system according to each target signal;
after the intelligent device acquires each target signal, the intelligent device can firstly determine the initial position coordinates of the intelligent terminal corresponding to each target signal (namely, the terminal where each beacon is located) in the position coordinate system set in advance, and determine the device position coordinates of the intelligent device in the position coordinate system.
And f, determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and the terminals according to the device position coordinates and the initial position coordinates.
In this embodiment, it is also necessary to determine the position coordinates, that is, the initial position coordinates, of the terminals corresponding to the respective target signals (that is, the terminals corresponding to the bluetooth arrays) in the position coordinate system, calculate the linear distances between each initial position coordinate and the device position coordinates, and use these linear distances as the initial distances between the intelligent device and the terminals where the respective beacons are located.
In this embodiment, the initial distance between the intelligent device and the terminal where each beacon is located is calculated according to the initial position coordinates and the device coordinates of the terminal corresponding to each target signal by determining the position coordinates corresponding to each beacon first and determining the device position coordinates of the intelligent device in the position coordinate system, so that the accuracy of the obtained initial distance is ensured.
Specifically, the step of determining, according to each of the demodulation signals, a target signal corresponding to each of the first beacon signals includes:
and m, denoising each demodulation signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
In this embodiment, after demodulating each first beacon signal to obtain each demodulated signal, denoising is further required for each demodulated signal to remove noise signals in each demodulated signal, after denoising is completed, a received signal after denoising is obtained, and a data signal with a data frame format in the received signal is used as a target signal.
In this embodiment, the received signal is obtained by performing denoising processing on each demodulation signal, and a data signal having a data frame format in the received signal is taken as a target signal. Thereby guaranteeing the validity of the acquired target signal.
Further, the step of calculating a theoretical distance between the smart device and each of the terminals according to each of the second beacon signals includes:
step e, traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and obtaining the transmitting frequency of the traversed second beacon signal;
in this embodiment, after the intelligent device acquires each second beacon signal, each second beacon signal may be traversed in sequence, and the signal strength of the traversed second beacon signal may be determined, where the signal strength may be directly determined by detecting according to a signal strength detecting device encapsulated in the intelligent device. Also in this embodiment, it is also necessary to acquire the transmission frequency of the traversed second beacon signal, and the determination of the transmission frequency may be determined according to the power of the beacon transmitting the second beacon signal. And the power of the beacon may be determined in advance.
And f, calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent equipment and a terminal corresponding to the traversed second beacon signal.
After the second beacon signal is acquired, a signal attenuation model which is set in advance is required to be acquired, then the signal intensity and the transmitting frequency are input into the signal attenuation model for calculation, and the calculated calculation result is used as the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal.
In this embodiment, by traversing each second beacon signal and calculating according to the signal strength, the transmitting frequency and the preset signal attenuation model of the traversed second beacon signal, the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal is obtained, so that accuracy of the calculated theoretical distance is ensured.
Specifically, the step of calculating according to a preset signal attenuation model, the signal strength and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal includes:
and g, determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent equipment and a terminal corresponding to the traversed second beacon signal.
In this embodiment, a calculation formula of a signal attenuation model set in advance, that is, lbs=32.45+20lgf+20lgd, where F is a frequency, D is a distance, and Lbs is a signal loss value, needs to be determined. And substituting the acquired signal intensity and the transmitting frequency into the formula to calculate so as to obtain the distance, and taking the calculated distance as the theoretical distance between the intelligent equipment and the terminal corresponding to the traversed second beacon signal.
In this embodiment, the calculation formula of the signal attenuation model is determined first, and then the signal intensity and the transmitting frequency are input into the calculation formula to calculate, so as to obtain the theoretical distance between the intelligent device and the terminal corresponding to the traversed second beacon signal, thereby ensuring the accuracy of the calculated theoretical distance.
Referring to fig. 3, the present invention further provides an indoor positioning device, in this embodiment, the indoor positioning device includes:
the acquisition module A10 is used for determining initial distances between the intelligent equipment and terminals corresponding to the Bluetooth array according to all first beacon signals received by the Bluetooth array;
a calculation module a20, configured to determine all second beacon signals received by the intelligent device, and calculate a theoretical distance between the intelligent device and each terminal according to each second beacon signal;
and the adjustment module A30 is used for adjusting each initial distance according to each theoretical distance so as to acquire all target distances and determining indoor position information of the intelligent equipment according to each target distance.
Optionally, the adjusting module a30 is configured to:
traversing each initial distance in turn, determining an traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if the initial distance is not matched with the target distance, adjusting the initial distance according to the traversal theoretical distance, and taking the adjusted initial distance as the target distance.
Optionally, the acquiring module a10 is configured to:
demodulating each first beacon signal according to a preset frequency spectrum width to obtain a demodulation signal corresponding to each first beacon signal;
and determining target signals corresponding to the first beacon signals according to the demodulation signals, and determining initial distances between the intelligent equipment and terminals corresponding to the Bluetooth array according to the target signals.
Optionally, the acquiring module a10 is configured to:
determining equipment position coordinates of the intelligent equipment in a preset position coordinate system according to each target signal;
and determining initial position coordinates of the terminal corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and the terminals according to the device position coordinates and the initial position coordinates.
Optionally, the acquiring module a10 is configured to:
and denoising each demodulation signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
Optionally, the computing module a20 is configured to:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent equipment and a terminal corresponding to the traversed second beacon signal.
Optionally, the computing module a20 is configured to:
determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
The method for implementing each functional module may refer to the embodiment of the indoor positioning method of the present invention, and will not be described herein.
The invention also provides an indoor positioning device, which comprises: memory, processor, communication bus and indoor positioning program stored on the memory:
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is configured to execute the indoor positioning program to implement the steps of each embodiment of the indoor positioning method.
The invention also provides a computer readable storage medium.
The computer readable storage medium of the present invention has stored thereon an indoor positioning program which, when executed by a processor, implements the steps of the indoor positioning method as described above.
The method implemented when the indoor positioning program running on the processor is executed may refer to various embodiments of the indoor positioning method of the present invention, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. An indoor positioning method is characterized by comprising the following steps:
all first beacon signals sent by a Bluetooth array are obtained, and demodulation processing is carried out on each first beacon signal according to a preset frequency spectrum width so as to obtain demodulation signals corresponding to each first beacon signal;
determining target signals corresponding to the first beacon signals according to the demodulation signals, and determining device position coordinates of the intelligent device in a preset position coordinate system according to the target signals;
determining initial position coordinates of terminals corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and the terminals according to the device position coordinates and the initial position coordinates;
determining all second beacon signals received by the intelligent equipment, and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal;
traversing each initial distance in turn, determining an traversal theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversal theoretical distance;
and if the initial distance is not matched with the target distance, adjusting the initial distance according to the traversal theoretical distance, taking the adjusted initial distance as the target distance, and determining the indoor position information of the intelligent equipment according to each target distance.
2. The indoor positioning method of claim 1, wherein the step of determining a target signal corresponding to each of the first beacon signals from each of the demodulation signals comprises:
and denoising each demodulation signal to obtain a denoised received signal, determining a data signal with a data frame format in the received signal, and taking the data signal as a target signal.
3. The indoor positioning method as claimed in any one of claims 1-2, wherein the step of calculating a theoretical distance between the smart device and each of the terminals from each of the second beacon signals comprises:
traversing each second beacon signal, determining the signal strength of the traversed second beacon signal, and acquiring the transmitting frequency of the traversed second beacon signal;
and calculating according to a preset signal attenuation model, the signal intensity and the transmitting frequency, and taking a calculation result of the calculation as a theoretical distance between the intelligent equipment and a terminal corresponding to the traversed second beacon signal.
4. The indoor positioning method as set forth in claim 3, wherein the step of calculating according to a preset signal attenuation model, the signal intensity and the transmission frequency and using a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal comprises:
determining a calculation formula of a preset signal attenuation model, inputting the signal intensity and the transmitting frequency into the calculation formula for calculation, and taking a calculation result of the calculation as a theoretical distance between the intelligent device and a terminal corresponding to the traversed second beacon signal.
5. An indoor positioning device, characterized in that the indoor positioning device comprises:
the acquisition module is used for acquiring all first beacon signals sent by the Bluetooth array, and demodulating each first beacon signal according to a preset frequency spectrum width so as to acquire a demodulation signal corresponding to each first beacon signal;
the acquisition module is further configured to determine, according to each of the demodulation signals, a target signal corresponding to each of the first beacon signals, and determine, according to each of the target signals, a device position coordinate of the intelligent device in a preset position coordinate system;
the acquisition module is further used for determining initial position coordinates of the terminals corresponding to the Bluetooth array in the position coordinate system, and calculating initial distances between the intelligent device and the terminals according to the device position coordinates and the initial position coordinates;
the calculation module is used for determining all second beacon signals received by the intelligent equipment and calculating the theoretical distance between the intelligent equipment and each terminal according to each second beacon signal;
the adjustment module is used for traversing each initial distance in sequence, determining the traversed theoretical distance corresponding to the traversed initial distance in each theoretical distance, and detecting whether the traversed initial distance is matched with the traversed theoretical distance;
and the adjusting module is further used for adjusting the initial distance traversed according to the traversal theoretical distance if the initial distance is not matched with the traversal theoretical distance, taking the adjusted initial distance as a target distance, and determining indoor position information of the intelligent equipment according to each target distance.
6. An indoor positioning apparatus, characterized in that the indoor positioning apparatus comprises: a memory, a processor and an indoor positioning program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the indoor positioning method according to any one of claims 1 to 4.
7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon an indoor positioning program, which when executed by a processor, implements the steps of the indoor positioning method according to any of claims 1 to 4.
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| CN108650630A (en) * | 2018-05-08 | 2018-10-12 | 深圳市零度智控科技有限公司 | Communicating and positioning method, positioning terminal, communications localization system and readable storage medium storing program for executing |
| CN112135250A (en) * | 2020-08-12 | 2020-12-25 | 浙江大华技术股份有限公司 | Indoor positioning method and device, computer equipment and readable storage medium |
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| WO2016119234A1 (en) * | 2015-01-30 | 2016-08-04 | 华为技术有限公司 | Indoor positioning device and method based on wifi system |
| CN106199515A (en) * | 2016-06-30 | 2016-12-07 | 北京海顿中科技术有限公司 | Utilize the method that Bluetooth beacon realizes location, centre position |
| CN111650946A (en) * | 2019-03-02 | 2020-09-11 | 任海洲 | Intelligent Bluetooth sound box that can follow automatically |
| CN110068791B (en) * | 2019-05-29 | 2023-02-03 | 合肥学院 | Indoor positioning system based on array antenna |
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| CN108650630A (en) * | 2018-05-08 | 2018-10-12 | 深圳市零度智控科技有限公司 | Communicating and positioning method, positioning terminal, communications localization system and readable storage medium storing program for executing |
| CN112135250A (en) * | 2020-08-12 | 2020-12-25 | 浙江大华技术股份有限公司 | Indoor positioning method and device, computer equipment and readable storage medium |
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