CN113534046A - Indoor positioning method and system based on Bluetooth communication and BLE chip - Google Patents
Indoor positioning method and system based on Bluetooth communication and BLE chip Download PDFInfo
- Publication number
- CN113534046A CN113534046A CN202110782764.0A CN202110782764A CN113534046A CN 113534046 A CN113534046 A CN 113534046A CN 202110782764 A CN202110782764 A CN 202110782764A CN 113534046 A CN113534046 A CN 113534046A
- Authority
- CN
- China
- Prior art keywords
- distance
- receiver
- bluetooth tag
- rssi
- bluetooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
-
- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The application relates to the technical field of communication, in particular to an indoor positioning method and system based on Bluetooth communication and a BLE chip. The method comprises the steps that a plurality of receivers Ri are deployed in a positioning area, RSSI values of a Bluetooth tag Pt are collected through the receivers Ri in the positioning area, when the RSSI values are smaller than or equal to a preset received signal strength threshold value A, a first algorithm is adopted to calculate the distance d between the Bluetooth tag Pt and the receivers Ri, and then the position of the Bluetooth tag Pt is determined according to the distance d between the Bluetooth tag Pt and the receivers Ri and the coordinates of the receivers Ri, wherein the first algorithm considers the influence of the power of a signal transmitted by the Bluetooth tag Pt and the attenuation factor of an obstacle on the distance d, and therefore the more accurate position of the Bluetooth tag Pt can be obtained.
Description
Technical Field
The application relates to the technical field of communication, in particular to an indoor positioning method and system based on Bluetooth communication and a BLE chip.
Background
The indoor positioning means that position positioning is realized in an indoor environment, and a set of indoor position positioning system is formed by mainly integrating various technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capture and the like, so that position monitoring of personnel, objects and the like in an indoor space is realized.
In the related art, a receiver or a fingerprint beacon is usually used to collect a Received Signal Strength (RSSI) value of a bluetooth tag, and the bluetooth tag is located according to the RSSI value. However, there are many factors that affect indoor positioning. For example, obstacles in the indoor environment, and the transmission power of bluetooth tags, may have some effect on the positioning accuracy.
Disclosure of Invention
The application provides an indoor positioning method and system based on Bluetooth communication and a BLE chip, which are beneficial to solving the problems that in the indoor positioning process of the prior art, obstacles in an indoor environment and the transmitting power of a Bluetooth tag can influence the positioning accuracy.
In a first aspect, an embodiment of the present application provides an indoor positioning method based on bluetooth communication, where the method includes:
acquiring coordinates of a receiver Ri in a positioning area;
collecting a received signal strength RSSI value of the Bluetooth tag Pt through the receiver Ri;
if the RSSI value is less than or equal to a preset received signal strength threshold value A, calculating the distance d between the Bluetooth tag Pt and a receiver Ri according to a first algorithm, wherein the first algorithm comprises the power of a signal transmitted by the Bluetooth tag Pt and an obstacle attenuation factor;
and determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
Optionally, the first algorithm is: d { [ (RSSI-Q) × lg (W1) ]/(a-Q) }, where Q is the bluetooth tag Pt transmit signal power and W1 is the first obstacle attenuation factor.
Optionally, the method comprises:
if the RSSI value is greater than a preset received signal strength threshold a, calculating a distance d between the bluetooth tag Pt and the receiver Ri according to a second algorithm, wherein the second algorithm includes a second obstacle attenuation factor W2.
Optionally, the second algorithm is: d ^ 10 [ ABS (a-RSSI)/(W2) ], where W2 is the second obstacle attenuation factor.
Optionally, the acquiring, by the receiver Ri, the RSSI value of the bluetooth tag Pt includes:
and carrying out median average filtering on the RSSI value of the Bluetooth tag Pt.
In a second aspect, an embodiment of the present application provides an indoor positioning method based on bluetooth communication, where the method includes:
acquiring coordinates of a receiver Ri in a positioning area;
collecting a received signal strength RSSI value of the Bluetooth tag Pt through a fingerprint beacon Pj in a positioning area;
determining the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon Pj according to a fingerprint library and the RSSI value of the Bluetooth tag Pt acquired by the fingerprint beacon Pj;
determining a first distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri and the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon PjFP；
Acquiring an RSSI value of the Bluetooth tag Pt through the receiver Ri;
determining a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the RSSI value of the Bluetooth tag Pt acquired by the receiver RiRSSI；
According to the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the Bluetooth tag Pt and the receiver Ri;
and determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
Optionally, the distance d (Pt, Ri) is determined according to the first distanceFPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the bluetooth tag Pt and the receiver Ri, including:
if the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIAre all less than or equal to a preset distance threshold B, the first distance d (Pt, Ri)FPTo said second distance d (Pt, Ri)RSSIThe closest value is taken as the distance d of the bluetooth tag Pt from the receiver Ri.
Optionally, the distance d (Pt, Ri) is determined according to the first distanceFPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the bluetooth tag Pt and the receiver Ri, including:
if the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIAre all larger than a preset distance threshold B according to the formula d ═ Xd (Pt, Ri)FP+Yd(Pt，Ri)RSSIAnd calculating the distance d between the Bluetooth tag Pt and the receiver Ri, wherein X and Y are weight coefficients.
Optionally, the second distance d (Pt, Ri) between the bluetooth tag Pt and the receiver Ri is determined according to the RSSI valueRSSIComprises that
If the RSSI value is less than or equal to a preset received signal strength threshold value A, calculating a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to a first algorithmRSSIThe first algorithm comprises the power of the transmitted signal of the Bluetooth tag Pt and the attenuation factor of the obstacle.
Optionally, the method comprises:
if the RSSI value is larger than a preset received signal strength threshold value A, calculating a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to a second algorithmRSSIThe second algorithm includes a second obstacle attenuation factor W2.
In a third aspect, an embodiment of the present application provides an indoor positioning system based on bluetooth communication, where the system includes:
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions which, when executed, cause the system to perform some or all of the steps of the first or second aspects.
In a fourth aspect, embodiments of the present application provide a BLE chip, including a processor; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed, cause the BLE chip to perform some or all of the steps of the first or second aspects described above.
The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least can include:
the method comprises the steps that a plurality of receivers Ri are deployed in a positioning area, RSSI values of a Bluetooth tag Pt are collected through the receivers Ri in the positioning area, when the RSSI values are smaller than or equal to a preset received signal strength threshold value A, a first algorithm is adopted to calculate the distance d between the Bluetooth tag Pt and the receivers Ri, and then the position of the Bluetooth tag Pt is determined according to the distance d between the Bluetooth tag Pt and the receivers Ri and the coordinates of the receivers Ri, wherein the first algorithm considers the influence of the power of a signal transmitted by the Bluetooth tag Pt and the attenuation factor of an obstacle on the distance d, and therefore the better and accurate position of the Bluetooth tag Pt can be obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flowchart illustrating an indoor positioning method based on bluetooth communication according to a first embodiment of the present application;
fig. 2 is a schematic diagram illustrating the deployment positions of the receivers Ri in the embodiment of the present application;
fig. 3 is a flowchart illustrating another indoor positioning method based on bluetooth communication according to a second embodiment of the present application.
Detailed Description
For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations or steps as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of various operations or steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Referring to fig. 1, a flowchart of an indoor positioning method based on bluetooth communication according to a first embodiment of the present application is shown. The method comprises the following steps:
s101, acquiring coordinates of a receiver Ri in a positioning area.
As shown in fig. 2, a plurality of receivers Ri (i ═ 1,2,3 … i) may be deployed in the positioning area, and the plurality of receivers Ri may be deployed in the positioning area according to a k-means clustering algorithm. For example, before deploying the receiver Ri in the positioning area, a structure diagram, an engineering diagram, a scene diagram, or the like of the positioning area may be obtained according to known data, and then the position of the receiver Ri in the positioning area may be designed by using a k-means clustering algorithm based on the structure diagram, or the like of the positioning area. The K-means clustering algorithm (K-means clustering algorithm) is a clustering analysis algorithm for iterative solution, and the steps are that data is divided into K groups in advance, K objects are randomly selected as initial clustering centers, then the distance between each object and each seed clustering center is calculated, and each object is allocated to the nearest clustering center; and stopping iteration when the algorithm meets the convergence condition or reaches the maximum iteration times, and outputting the clustering center and the data points belonging to the clustering center. In practical application, the position of the receiver Ri in the positioning area can be designed according to the clustering center output by the k-means clustering algorithm and the data points belonging to the same class, that is, the receiver Ri is deployed in the positioning area, and the receiver Ri can be deployed in the positioning area in a ceiling-mounted, wall-hung or horizontal manner. The positioning area in the present application may be one or more floors of a building, or the positioning area may be a partially open area, or may be a factory production workshop, or may even be an area in an underground production environment. It can be understood that after the deployment of the receiver Ri in the positioning area is completed, the coordinates of the receiver Ri in the positioning area can be obtained, and the coordinate information of the receiver Ri in the positioning area can be stored in the memory as the existing information, so as to facilitate the calling or the consulting thereof when needed.
S102, collecting the RSSI value of the received signal strength of the Bluetooth tag Pt through the receiver Ri.
The receiver Ri used in the embodiment of the present application may be a signal receiver Ri commonly known in the art, and the receiver Ri is mainly configured to receive or collect signal information from a Bluetooth (BLE) tag Pt. The bluetooth tag Pt can be an electronic device such as a smart phone, a personal computer, and a smart wearable device that support a BLE function. The receiver Ri may include a WiFi module to transmit the acquired signal information of the bluetooth tag Pt to the mqtt server through the mqtt protocol, so that the background positioning system or the background server may acquire the signal information of the bluetooth tag Pt acquired by the receiver Ri by the mqtt server. The Signal information of the bluetooth tag Pt includes a Received Signal Strength RSSI (Received Signal Strength Indicator) value of the bluetooth tag Pt.
After a receiver Ri is deployed in a positioning area, the receiver Ri, an mqtt server and a background positioning system (or a background server) are simultaneously started, after the receiver Ri scans signals of a Bluetooth tag Pt, the RSSI value of the Bluetooth tag Pt can be judged according to the scanned received signal strength, the receiver Ri can transmit the RSSI value of the Bluetooth tag Pt to the configured mqtt server in an mqtt protocol mode, and the background positioning system or the background server can acquire the corresponding RSSI value from the mqtt server.
In a possible implementation manner, when the RSSI value of one bluetooth tag Pt is obtained, each receiver may obtain the RSSI value of the bluetooth tag Pt for multiple times, that is, obtain multiple RSSI values. For a plurality of RSSI values acquired by each receiver, the plurality of RSSI values may be processed according to a median average filtering method, that is, a maximum value and a minimum value are removed from the acquired RSSI values of the bluetooth tag Pt, and then the remaining data are averaged. By carrying out median average filtering processing on the RSSI value of the Bluetooth tag Pt, the influence of inherent noise can be eliminated as much as possible, errors are reduced, and the finally obtained result is more accurate. Or after the receiver Ri collects the RSSI value of the bluetooth tag Pt, the receiver Ri may first perform filtering processing on the collected RSSI value of the bluetooth tag Pt by using a kalman filter, and then perform median average filtering processing on the RSSI value of the bluetooth tag Pt. Kalman filtering (Kalman filtering) is an algorithm for performing optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through a system, and a recursion form is adopted in the algorithm. The RSSI value of the collected Bluetooth tag Pt is preprocessed through the Kalman filter, so that abnormal values can be filtered firstly, the collected RSSI value tends to be stable on the whole, the RSSI value is prevented from fluctuating too much, and the influence of signal jumping of the Bluetooth tag Pt on a final calculation result is reduced. The steps of processing the RSSI value of the bluetooth tag Pt by the median average filtering method and processing the RSSI value by the kalman filtering method may be performed in the receiver Ri, or may be performed in a background positioning system or a background server.
And S103, if the RSSI value of the Bluetooth tag Pt is smaller than or equal to a preset received signal strength threshold value A, calculating the distance d between the Bluetooth tag Pt and the receiver Ri according to a first algorithm.
The preset received signal strength threshold a may be set by a worker before the indoor positioning method provided in the embodiment of the present application is executed, and the worker may modify the preset received signal strength threshold a according to actual needs. For example, different preset rssi thresholds a may be selected for different receiver Ri deployments. Alternatively, the preset rssi threshold a may be a default value that is not modifiable. For example, the received signal strength threshold a may be an absolute value of an RSSI value collected by a certain receiver Ri when the distance from the test equipment with BLE function to the receiver Ri is 1m, and the value may be measured. Generally, when the RSSI value of the bluetooth tag Pt is smaller than or equal to the preset RSSI threshold a, it indicates that the distance between the bluetooth tag Pt and the receiver Ri is relatively long. When the distance between the bluetooth tag Pt and the receiver Ri is long, the transmission signal power of the bluetooth tag Pt may have a large influence on the positioning accuracy, and the design of buildings in the positioning area, the indoor design pattern, human factors, etc. may also affect the transmission of signals, causing unpredictable interference and fluctuation, so when calculating the distance d between the bluetooth tag Pt and the receiver Ri, the influence of the transmission signal power of the bluetooth tag Pt and the obstacle attenuation factor on the distance d needs to be considered. Therefore, when the distance d between the bluetooth tag Pt and the receiver Ri is calculated by the first algorithm, the influence of the transmission signal power and the obstacle attenuation factor on the distance d can be avoided as much as possible by introducing two parameters, namely the transmission signal power and the obstacle attenuation factor of the bluetooth tag Pt into the first algorithm.
In one possible implementation, the first algorithm may be: d { [ (RSSI-Q) × lg (W1) ]/(a-Q) }, where Q is the bluetooth tag Pt transmit signal power and W1 is the first obstacle attenuation factor. The power Q of a transmitting signal of the Bluetooth tag Pt is usually a fixed value; the obstacle attenuation factor is determined by the structure and the used materials of the building where the localization area is located, and can be obtained through actual measurement. The bluetooth tag Pt transmission signal power Q may be data known by the bluetooth tag Pt before entering the positioning area or when entering the positioning area.
In a possible implementation manner, when the RSSI value of the bluetooth tag Pt is greater than the preset received signal strength threshold a, the distance d between the bluetooth tag Pt and the receiver Ri may be calculated according to the second algorithm. Generally speaking, when the RSSI value of the bluetooth tag Pt is greater than the preset received signal strength threshold a, it indicates that the distance between the bluetooth tag Pt and the receiver Ri is relatively short, and at this time, when the distance d between the bluetooth tag Pt and the receiver Ri is calculated, the influence of the obstacle attenuation factor on the distance d may be considered, and the influence of the transmission signal power of the bluetooth tag Pt on the distance d is no longer considered. The second algorithm may be: d ^ 10 [ ABS (a-RSSI)/(W2) ], where W2 is the second obstacle attenuation factor.
And S104, determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
After calculating the distance d between the bluetooth tag Pt and the receiver Ri, since the coordinates of the receiver Ri are known, the position of the bluetooth tag Pt can be determined according to the distance d between the bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri. For example, in this step, the distances between the bluetooth tag Pt and the plurality of receivers may be obtained, and the position of the bluetooth tag may be determined by the distances between the bluetooth tag Pt and at least 3 receivers.
In the indoor positioning method provided by this embodiment, a plurality of receivers Ri are deployed in a positioning area, an RSSI value of a bluetooth tag Pt is acquired by the receivers Ri in the positioning area, a first algorithm is used to calculate a distance d between the bluetooth tag Pt and the receivers Ri when the RSSI value is less than or equal to a preset received signal strength threshold a, and a second algorithm is used to calculate the distance d between the bluetooth tag Pt and the receivers Ri when the RSSI value is greater than the preset received signal strength threshold a, where the first algorithm considers the influence of the transmission signal power of the bluetooth tag Pt and the obstacle attenuation factor on the distance d, and the second algorithm considers the influence of the obstacle attenuation factor on the distance d, and finally, the position of the bluetooth tag Pt is determined according to the distance d between the bluetooth tag Pt and the receivers Ri and the coordinates of the receivers Ri, so that a better position of the bluetooth tag Pt can be obtained.
When the distance between the bluetooth tag Pt and the receiver Ri is large, the influence of the transmission signal power of the bluetooth tag Pt on the positioning accuracy is also large, and the obstacle attenuation factor also has a certain influence on the positioning accuracy. Therefore, when the RSSI value of the bluetooth tag Pt is less than or equal to the preset received signal strength threshold a, the distance d between the bluetooth tag Pt and the receiver Ri is calculated by using the first algorithm considering the transmitted signal power of the bluetooth tag Pt and the obstacle attenuation factor, so that the influence of the transmitted signal power of the bluetooth tag Pt and the obstacle on the positioning accuracy can be eliminated as much as possible, and a more accurate position of the bluetooth tag Pt can be obtained.
Referring to fig. 3, a flowchart of another indoor positioning method based on bluetooth communication according to a second embodiment of the present application is shown. The method comprises the following steps:
s201, obtaining the coordinates of the receiver Ri in the positioning area.
In this embodiment, a plurality of fingerprint beacons Pj (j ═ 1,2,3 … j) and receivers Ri (i ═ 1,2,3 … i) may be deployed in the location area. The positions of the plurality of fingerprint beacons Pj and the receivers Ri in the positioning area may be designed by adopting a k-means clustering algorithm based on a structural schematic diagram of the positioning area, so as to complete the deployment of each fingerprint beacon Pj and the receiver Ri in the positioning area. It can be understood that after the deployment of the fingerprint beacon Pj and the receiver Ri in the positioning area is completed, the coordinates of the fingerprint beacon Pj and the receiver Ri in the positioning area can be obtained, and the coordinate information of the fingerprint beacon Pj and the receiver Ri in the positioning area can be stored in the memory as the existing information, so as to facilitate the calling or the consulting thereof when needed.
In one possible implementation, after acquiring the coordinates of the fingerprint beacon Pj and the coordinates of the receiver Ri, the coordinates of the fingerprint beacon Pj and the receiver Ri may be converted into coordinates in the same coordinate system, so as to determine the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri. The distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri may also be stored in memory as an existing file to facilitate recall or lookup thereof when needed.
S202, collecting the received signal strength RSSI value of the Bluetooth tag Pt through the fingerprint beacon Pj in the positioning area.
The fingerprint beacon Pj may be a device capable of communicating with the bluetooth tag Pt, and may acquire the RSSI value of the bluetooth tag Pt.
S203, determining the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon Pj according to the fingerprint library and the RSSI value of the Bluetooth tag Pt acquired by the fingerprint beacon Pj.
After the deployment of the fingerprint beacon Pj is completed in the positioning area, the RSSI value of the testing device at different positions in the positioning area can be obtained through the fingerprint beacon Pj. For example, a smart phone with BLE function may be used as the test device, and the smart phone may be placed at different positions in the location area, and when the position of the smart phone is changed, the fingerprint beacon Pj in the location area may receive RSSI values transmitted by the smart phone at different positions. By correspondingly storing the position information of the smart phone, the RSSI value received by the fingerprint beacon Pj, the coordinate of the fingerprint beacon Pj and the distance between the fingerprint beacon Pj and the smart phone, a fingerprint map, namely a fingerprint library can be established, and the fingerprint library stores the corresponding relation between the fingerprint beacon Pj and the test RSSI value of each subarea and the distance information between the fingerprint beacon Pj and each subarea. In a possible implementation manner, the positioning area may be divided into a plurality of sub-areas, and a plurality of test points may be set in each sub-area, that is, the fingerprint beacon Pj may receive a plurality of RSSI values from the test device in the same sub-area, so that for the same fingerprint beacon Pj, a plurality of RSSI values in a certain range correspond to the same sub-area. Table 1 and table 2 exemplarily show data correspondence in the fingerprint library. It should be noted that tables 1 and 2 are only for illustration, and the specific values of the data in tables 1 and 2 may be modified according to practical situations.
Table 1 correspondence between fingerprint beacons Pj in fingerprint database and test RSSI values of each sub-area
| RSSI value/(P1) | RSSI value/(P2) | …… | RSSI value/(Pj) | |
| Subregion 1 | 120-150 | 100-119 | …… | 0-30 |
| Sub-region 2 | 100-119 | 120-150 | …… | 31-50 |
| …… | …… | …… | …… | …… |
Table 2 distance information/m between fingerprint beacons Pj and each sub-area in fingerprint library
| P1 | P2 | …… | Pj | |
| Subregion 1 | 2 | 5 | …… | 10 |
| Sub-region 2 | 5 | 2 | …… | 8 |
| …… | …… | …… | …… | …… |
Because the fingerprint library correspondingly stores the corresponding relationship between the distance between the fingerprint beacon Pj and each sub-area and the corresponding relationship between the RSSI value of the testing device received by the fingerprint beacon Pj and each sub-area, after the fingerprint beacon Pj receives the RSSI value of the bluetooth tag Pt, the sub-area in which the bluetooth tag Pt is located can be determined according to the fingerprint library, so that the distance d (Pt, Pj) between the bluetooth tag Pt and the fingerprint beacon Pj can be determined. Because a plurality of fingerprint beacons Pj exist in the positioning area, the distances d (Pt, Pj) between the plurality of fingerprint beacons Pj and the bluetooth tag Pt can be determined according to the fingerprint library.
S204, determining a first distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri and the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon PjFP。
Since the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri is known data, after obtaining the distance d (Pt, Pj) between the bluetooth tag Pt and the fingerprint beacon Pj, the first distance d (Pt, Ri) between the bluetooth tag Pt and the receiver Ri can be determinedFP。
And S205, acquiring the RSSI value of the Bluetooth tag Pt through the receiver Ri.
The specific implementation manner of the receiver Ri acquiring the RSSI value of the bluetooth tag Pt may refer to step S102 in the first embodiment, which is not described herein again.
S206, according to the RSSI value of the Bluetooth tag Pt collected by the receiver Ri, determining a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver RiRSSI。
In a possible implementation manner, if the RSSI value of the bluetooth tag Pt acquired by the receiver Ri is less than or equal to the preset received signal strength threshold a, the first algorithm may be used to calculate the second distance d (Pt, Ri) between the bluetooth tag Pt and the receiver RiRSSI. Wherein the first algorithm comprises the bluetooth tag Pt transmission signal power and the obstacle attenuation factor. For example, the first algorithm may be: d 10 { [ (RSSI-Q) } lg (W1)]V (A-Q) }, wherein Q is a Bluetooth tag Pt transmitting signalPower, W1 is the first obstacle attenuation factor. If the RSSI value of the bluetooth tag Pt acquired by the receiver Ri is greater than the preset received signal strength threshold a, a second algorithm may be used to calculate a second distance d (Pt, Ri) between the bluetooth tag Pt and the receiver RiRSSI. Wherein the second algorithm comprises a second obstacle attenuation factor W2. For example, the second algorithm may be: d 10^ ABS (A-RSSI)/(W2)]Where W2 is the second obstacle attenuation factor. The specific implementation manner of step S206 may refer to step S103 in the first embodiment, and is not described herein again.
S207, according to the first distance d (Pt, Ri)FPAnd a second distance d (Pt, Ri)RSSIThe distance d between the bluetooth tag Pt and the receiver Ri is determined.
In one possible implementation, if the first distance d (Pt, Ri)FPAnd a second distance d (Pt, Ri)RSSIAre all smaller than or equal to the preset distance threshold B, which indicates that the distance between the bluetooth tag Pt and the receiver Ri is shorter, and the first distance d (Pt, Ri) can be setFPA second distance d (Pt, Ri)RSSIThe closest value is taken as the distance d of the bluetooth tag Pt from the receiver Ri. The distance threshold B may be preset by a worker before the indoor positioning method provided in this embodiment is executed. Theoretically, the specific value of the distance threshold B may be any positive number, but in practical applications, a worker may select an appropriate value as the specific value of the threshold B according to actual needs. For example, the distance threshold B may be 1m, 2m, etc. If the first distance d (Pt, Ri)FPAnd a second distance d (Pt, Ri)RSSIAre greater than a preset distance threshold B, indicating that the distance between the bluetooth tag Pt and the receiver Ri is relatively long, and the distance may be set to Xd (Pt, Ri) according to the formula dFP+Yd(Pt，Ri)RSSIAnd calculating the distance d between the Bluetooth tag Pt and the receiver Ri. The weight coefficients X and Y are empirical coefficients, and can be obtained through multiple tests. By introducing the weight coefficients X and Y into the distance calculation formula, the final determination result can be made more accurate. If the first distance d (Pt, Ri)FPAnd a second distance d (Pt, Ri)RSSIOne is less than the distance threshold value B and the other is greater than the distance threshold valueValue B, indicating the first distance d (Pt, Ri) obtainedFPAnd a second distance d (Pt, Ri)RSSIIs large, the first distance d (Pt, Ri) needs to be acquired againFPAnd a second distance d (Pt, Ri)RSSI。
And S208, determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
After the distance d between the bluetooth tag Pt and the receiver Ri is acquired, since the coordinates of the receiver Ri are known, the position of the bluetooth tag Pt can be determined according to the distance d between the bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
It should be noted that, the processing steps of determining, calculating, and the like in this embodiment may be performed in the corresponding device (such as the fingerprint beacon Pj or the receiver Ri), or these processing steps may also be performed in the background positioning system or the background server.
In the indoor positioning method provided in this embodiment, a fingerprint library is established, a distance d (Pt, Pj) between a bluetooth tag Pt and a fingerprint beacon Pj is determined according to an RSSI value of the bluetooth tag Pt acquired by the fingerprint beacon Pj, and a first distance d (Pt, Ri) between the bluetooth tag Pt and a receiver Ri is determined according to the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri and the distance d (Pt, Pj) between the bluetooth tag Pt and the fingerprint beacon PjFPDetermining a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the RSSI value of the Bluetooth tag Pt acquired by the receiver RiRSSIAnd finally determining the distance d between the Bluetooth tag Pt and the receiver Ri according to the first distance and the second distance between the Bluetooth tag Pt and the receiver Ri, and determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri, so that the more accurate position of the Bluetooth tag Pt can be obtained. In this embodiment, the distance between the bluetooth tag Pt and the receiver Ri is obtained by different methods, and the distance between the bluetooth tag Pt and the receiver Ri is finally determined according to the distance between the bluetooth tag Pt and the receiver Ri obtained by different methods, so that an error in positioning the bluetooth tag Pt can be avoided, and a positioning result is more accurate.
The third embodiment of the present application provides an indoor positioning system based on bluetooth communication, including: one or more processors, one or more memories, and one or more computer programs. Wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions. The instructions, when executed, cause the system to perform the method described in the first embodiment of the present application.
A fourth embodiment of the present application provides a BLE chip, including: a processor; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed, cause the BLE chip to perform some or all of the methods in the first embodiment of the present application. It is understood that the BLE chip may perform a method corresponding to a bluetooth tag, and may also perform a method corresponding to a receiver or a server, which is not specifically limited in this embodiment of the application.
A fifth embodiment of the present application provides an indoor positioning system based on bluetooth communication, including: one or more processors, one or more memories, and one or more computer programs. Wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions. The instructions, when executed, cause the system to perform the method described in the second embodiment of the present application.
A sixth embodiment of the present application provides a BLE chip, including: a processor; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed, cause the BLE chip to perform some or all of the methods in the second embodiment of the present application. It is understood that the BLE chip may perform a method corresponding to a bluetooth tag, and may also perform a method corresponding to a receiver or a server, which is not specifically limited in this embodiment of the application.
In specific implementation, the present application further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments provided in the present application when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), or the like.
In a specific implementation, an embodiment of the present application further provides a computer program product, where the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer is caused to perform some or all of the steps in the foregoing method embodiment.
In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the specific embodiments of the present application, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. An indoor positioning method based on Bluetooth communication is characterized by comprising the following steps:
acquiring coordinates of a receiver Ri in a positioning area;
collecting a received signal strength RSSI value of the Bluetooth tag Pt through the receiver Ri;
if the RSSI value is less than or equal to a preset received signal strength threshold value A, calculating the distance d between the Bluetooth tag Pt and a receiver Ri according to a first algorithm, wherein the first algorithm comprises the power of a signal transmitted by the Bluetooth tag Pt and an obstacle attenuation factor;
and determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
2. The method of claim 1, wherein the first algorithm is: d { [ (RSSI-Q) × lg (W1) ]/(a-Q) }, where Q is the bluetooth tag Pt transmit signal power and W1 is the first obstacle attenuation factor.
3. The method of claim 1, comprising:
if the RSSI value is greater than a preset received signal strength threshold a, calculating a distance d between the bluetooth tag Pt and the receiver Ri according to a second algorithm, wherein the second algorithm includes a second obstacle attenuation factor W2.
4. The method of claim 3, wherein the second algorithm is: d ^ 10 [ ABS (a-RSSI)/(W2) ], where W2 is the second obstacle attenuation factor.
5. The method according to claim 1, wherein said acquiring, by said receiver Ri, RSSI values of bluetooth tag Pt comprises:
and carrying out median average filtering on the RSSI value of the Bluetooth tag Pt.
6. An indoor positioning method based on Bluetooth communication is characterized by comprising the following steps:
acquiring coordinates of a receiver Ri in a positioning area;
collecting a received signal strength RSSI value of the Bluetooth tag Pt through a fingerprint beacon Pj in a positioning area;
determining the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon Pj according to a fingerprint library and the RSSI value of the Bluetooth tag Pt acquired by the fingerprint beacon Pj;
determining a first distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the distance d (Pj, Ri) between the fingerprint beacon Pj and the receiver Ri and the distance d (Pt, Pj) between the Bluetooth tag Pt and the fingerprint beacon PjFP；
Acquiring an RSSI value of the Bluetooth tag Pt through the receiver Ri;
determining a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to the RSSI value of the Bluetooth tag Pt acquired by the receiver RiRSSI；
According to the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the Bluetooth tag Pt and the receiver Ri;
and determining the position of the Bluetooth tag Pt according to the distance d between the Bluetooth tag Pt and the receiver Ri and the coordinates of the receiver Ri.
7. The method according to claim 6, characterized in that said first distance d (Pt, Ri) is a function of said distanceFPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the bluetooth tag Pt and the receiver Ri, including:
if the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIAre all less than or equal to a preset distance threshold B, the first distance d (Pt, Ri)FPTo said second distance d (Pt, Ri)RSSIThe closest value is taken as the distance d of the bluetooth tag Pt from the receiver Ri.
8. The method according to claim 6, characterized in that said first distance d (Pt, Ri) is a function of said distanceFPAnd said second distance d (Pt, Ri)RSSIDetermining the distance d between the bluetooth tag Pt and the receiver Ri, including:
if the first distance d (Pt, Ri)FPAnd said second distance d (Pt, Ri)RSSIAre all larger than a preset distance threshold B according to the formula d ═ Xd (Pt, Ri)FP+Yd(Pt，Ri)RSSIAnd calculating the distance d between the Bluetooth tag Pt and the receiver Ri, wherein X and Y are weight coefficients.
9. The method of claim 6, wherein the determining a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri is performed according to the RSSI valueRSSIComprises that
If the RSSI value is less than or equal to a preset received signal strength threshold value A, calculating a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to a first algorithmRSSIThe first algorithm comprises the power of the transmitted signal of the Bluetooth tag Pt and the attenuation factor of the obstacle.
10. The method of claim 6, comprising:
if the RSSI value is larger than a preset received signal strength threshold value A, calculating a second distance d (Pt, Ri) between the Bluetooth tag Pt and the receiver Ri according to a second algorithmRSSIThe second algorithm includes a second obstacle attenuation factor W2.
11. An indoor positioning system based on bluetooth communication, comprising:
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions that, when executed, cause the system to perform the method of any of claims 1-5.
12. A BLE chip, comprising:
a processor;
a memory;
and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed, cause the BLE chip to perform the method of any one of claims 1-5.
13. An indoor positioning system based on bluetooth communication, comprising:
one or more processors;
one or more memories;
and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs comprising instructions that, when executed, cause the system to perform the method of any of claims 6-10.
14. A BLE chip, comprising:
a processor;
a memory;
and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed, cause the BLE chip to perform the method of any one of claims 6-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110782764.0A CN113534046B (en) | 2021-07-12 | 2021-07-12 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110782764.0A CN113534046B (en) | 2021-07-12 | 2021-07-12 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113534046A true CN113534046A (en) | 2021-10-22 |
| CN113534046B CN113534046B (en) | 2022-09-06 |
Family
ID=78098467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110782764.0A Active CN113534046B (en) | 2021-07-12 | 2021-07-12 | Indoor positioning method and system based on Bluetooth communication and BLE chip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113534046B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110128124A1 (en) * | 2009-12-02 | 2011-06-02 | Ls Industrial Systems Co., Ltd. | Real time location system and method for caching location information based on finger printing |
| CN102967848A (en) * | 2012-11-28 | 2013-03-13 | 电子科技大学 | Positioning method based on distance relationship library and received signal intensity |
| CN105376855A (en) * | 2015-09-09 | 2016-03-02 | 华南师范大学 | Indoor positioning method and system for adaptive obstacle judgment based on wireless technology |
| US20160295376A1 (en) * | 2015-04-06 | 2016-10-06 | Awarepoint Corporation | Bluetooth low energy location system and method |
| KR20180058428A (en) * | 2016-11-24 | 2018-06-01 | 숭실대학교산학협력단 | Method for wireless positioning multi-based on wifi ap and ibeacon |
| CN109633535A (en) * | 2019-01-21 | 2019-04-16 | 上海美迪索科电子科技有限公司 | A kind of positioning system, method, apparatus and storage medium |
| CN109782227A (en) * | 2019-02-20 | 2019-05-21 | 核芯互联科技(青岛)有限公司 | A kind of indoor orientation method based on Bluetooth signal RSSI |
| CN110470300A (en) * | 2019-08-08 | 2019-11-19 | 厦门大学嘉庚学院 | A kind of indoor orientation method and system based on 5.0 beacon of bluetooth |
| CN111190138A (en) * | 2020-02-12 | 2020-05-22 | 南京邮电大学 | Tool car indoor and outdoor combined positioning method and device based on Internet of things |
| CN112135246A (en) * | 2020-09-23 | 2020-12-25 | 中科芯集成电路有限公司 | RSSI (received Signal Strength indicator) updating indoor positioning method based on SSD (solid State disk) target detection |
| CN112533163A (en) * | 2020-11-24 | 2021-03-19 | 厦门大学 | Indoor positioning method based on NB-IoT (NB-IoT) improved fusion ultra-wideband and Bluetooth |
| CN112689235A (en) * | 2020-12-29 | 2021-04-20 | 浙江中控技术股份有限公司 | Positioning method and device based on Bluetooth signals |
-
2021
- 2021-07-12 CN CN202110782764.0A patent/CN113534046B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110128124A1 (en) * | 2009-12-02 | 2011-06-02 | Ls Industrial Systems Co., Ltd. | Real time location system and method for caching location information based on finger printing |
| CN102967848A (en) * | 2012-11-28 | 2013-03-13 | 电子科技大学 | Positioning method based on distance relationship library and received signal intensity |
| US20160295376A1 (en) * | 2015-04-06 | 2016-10-06 | Awarepoint Corporation | Bluetooth low energy location system and method |
| CN105376855A (en) * | 2015-09-09 | 2016-03-02 | 华南师范大学 | Indoor positioning method and system for adaptive obstacle judgment based on wireless technology |
| KR20180058428A (en) * | 2016-11-24 | 2018-06-01 | 숭실대학교산학협력단 | Method for wireless positioning multi-based on wifi ap and ibeacon |
| CN109633535A (en) * | 2019-01-21 | 2019-04-16 | 上海美迪索科电子科技有限公司 | A kind of positioning system, method, apparatus and storage medium |
| CN109782227A (en) * | 2019-02-20 | 2019-05-21 | 核芯互联科技(青岛)有限公司 | A kind of indoor orientation method based on Bluetooth signal RSSI |
| CN110470300A (en) * | 2019-08-08 | 2019-11-19 | 厦门大学嘉庚学院 | A kind of indoor orientation method and system based on 5.0 beacon of bluetooth |
| CN111190138A (en) * | 2020-02-12 | 2020-05-22 | 南京邮电大学 | Tool car indoor and outdoor combined positioning method and device based on Internet of things |
| CN112135246A (en) * | 2020-09-23 | 2020-12-25 | 中科芯集成电路有限公司 | RSSI (received Signal Strength indicator) updating indoor positioning method based on SSD (solid State disk) target detection |
| CN112533163A (en) * | 2020-11-24 | 2021-03-19 | 厦门大学 | Indoor positioning method based on NB-IoT (NB-IoT) improved fusion ultra-wideband and Bluetooth |
| CN112689235A (en) * | 2020-12-29 | 2021-04-20 | 浙江中控技术股份有限公司 | Positioning method and device based on Bluetooth signals |
Non-Patent Citations (4)
| Title |
|---|
| 卞合善: "基于蓝牙4.0低功耗室内定位研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑(月刊)》 * |
| 吴奇轩: "基于RSSI的低功耗蓝牙4.0室内定位技术研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑(月刊)》 * |
| 张亚磊等: "蓝牙室内测距模型研究与精度分析", 《测绘科学》 * |
| 郑志浩等: "一种基于RSSI混合滤波和分段式拟合测距模型的室内定位方法", 《第十二届中国卫星导航年会论文集》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113534046B (en) | 2022-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10057725B2 (en) | Sensor-based geolocation of a user device | |
| US20180025500A1 (en) | Method of tracking one or more mobile objects in a site and a system employing same | |
| EP2672288B1 (en) | Locating apparatus, locating system, locating method and program | |
| EP2916139B1 (en) | A computer implemented system and method for wi-fi based indoor localization | |
| CA2840250C (en) | An improved system and method for wireless positioning in wireless network-enabled environments | |
| JP6410968B2 (en) | Device and method for tracking | |
| US20180329022A1 (en) | Method, apparatus and system for locating an object using cluster-type magnetic field | |
| EP1471688A2 (en) | Calibration of a device location measurement system that utilizes radio signal strengths | |
| EP3969932A1 (en) | Determining motion zones in a space traversed by wireless signals | |
| CN105938189B (en) | Multi-person cooperation type floor positioning method and system | |
| WO2014137953A1 (en) | Crowd sourced pathway maps | |
| CN110933604B (en) | KNN indoor positioning method based on position fingerprint time sequence characteristics | |
| US20190277641A1 (en) | Method and localization system for setting up or updating an environment map | |
| KR20180059094A (en) | Method and system rssi calibration in beacon-based indoor positioning | |
| Yiu et al. | Locating user equipments and access points using RSSI fingerprints: A Gaussian process approach | |
| JP2006329688A (en) | Position detection method, position detection system, position detection program and computer-readable recording medium recorded with the program | |
| CN111856157A (en) | Lightning position measuring method, lightning position measuring device, computer equipment and storage medium | |
| JP2010127650A (en) | System for estimating position of movable body, method for estimating position of movable body, and program for estimating position of movable body | |
| CN113534046B (en) | Indoor positioning method and system based on Bluetooth communication and BLE chip | |
| Kuai et al. | Simultaneous localization and mapping (SLAM) for indoor autonomous mobile robot navigation in wireless sensor networks | |
| EP3293483B1 (en) | Improved floor detection based on determined floor detection parameters | |
| CN113225685B (en) | Track error correction method, device, equipment and storage medium | |
| Das et al. | Node position estimation for efficient coverage hole-detection in wireless sensor network | |
| Kawecki et al. | Influence of reference map resolution on indoor terminal positioning with the use of rssi measurements and particle filter algorithm | |
| KR101313727B1 (en) | Position calculating method of positional recognition system by wireless communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 519060 room 105-68710, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee after: Zhuhai Jihai Semiconductor Co.,Ltd. Patentee after: Jihai Microelectronics Co.,Ltd. Address before: 519060 room 105-68710, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee before: Zhuhai Jihai Semiconductor Co.,Ltd. Patentee before: APEX MICROELECTRONICS Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |