CN113691944B - Method for positioning object by using Beidou RTK and Bluetooth beacon - Google Patents
Method for positioning object by using Beidou RTK and Bluetooth beacon Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
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- H04B17/00—Monitoring; Testing
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- H04B17/318—Received signal strength
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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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Abstract
The invention discloses a method for positioning an object by using Beidou RTK and Bluetooth beacons, which comprises the following steps: the vehicle-mounted positioning device is arranged on a moving vehicle and comprises a central control module, a Beidou RTK module and a Bluetooth module, wherein the Beidou RTK module and the Bluetooth module are respectively and electrically connected with the central control module; a bluetooth beacon mounted on the unpowered device to be located; the method comprises the following steps: the vehicle moves in the signal range of the Bluetooth beacon, and the central control module controls the Bluetooth module to receive broadcast signals sent by the Bluetooth beacon in real time and judge the signal intensity; the central control module controls the Beidou RTK module to randomly acquire three positions P of the vehicle; and the central control module uploads three groups of randomly acquired position information and corresponding broadcast signals and signal strength data to a server through the return module. The invention effectively solves the problems of the label cost and the power supply of unpowered equipment and reduces the operation and maintenance cost.
Description
Technical Field
The invention relates to the technical field of high-precision positioning, in particular to a method for positioning an object by using Beidou RTK and Bluetooth beacons.
Background
The existing Beidou RTK (Real-Time Kinematic) technology can achieve positioning accuracy of 30 cm in an outdoor area through a mode of building a reference station outdoors, a plurality of manufacturers already provide Beidou high-accuracy positioning board cards in the market at present, and high-accuracy positioning of vehicles and the like can be achieved through purchasing use permission.
However, in some large factories, such as open-pit mines, airports, large parks, etc., there are a large number of unpowered devices and apparatuses, and if high-precision positioning is to be achieved, it is almost impossible to install the positioning apparatus of the beidou RTK for each device, and the following difficulties are mainly involved: (1) The single positioning device has high cost, is very often a few thousand yuan, and cannot be deployed in a large area. (2) The power consumption is high, and even if a customer can bear the cost, the specific operation and maintenance are difficult, and the frequent replacement of a battery, the charging and the like are required.
Accordingly, there is a need for a method of positioning an object with high accuracy that overcomes the above-described drawbacks.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a method for positioning an object by using a Beidou RTK and a Bluetooth beacon, which is characterized in that a Beidou RTK high-precision positioning device integrated with a Bluetooth module is installed on a moving vehicle, meanwhile, the Bluetooth beacon is installed on unpowered equipment, and when the vehicle passes near the unpowered equipment, server software obtains the beacon position through calculation, so that the operation and maintenance cost is effectively reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a system for positioning an object by using Beidou RTK and Bluetooth beacons, which comprises,
the vehicle-mounted positioning device is arranged on a moving vehicle and comprises a central control module, a Beidou RTK module and a Bluetooth module, wherein the Beidou RTK module and the Bluetooth module are respectively and electrically connected with the central control module;
the Bluetooth beacon is arranged on the unpowered equipment to be positioned and is used for sending a broadcast signal, and the broadcast signal comprises the serial number of the unpowered equipment;
the central control module is further electrically connected with a backhaul module, the central control module controls the Bluetooth module to collect broadcast signals sent by the Bluetooth beacons and judge signal intensity, controls the Beidou RTK module to obtain vehicle coordinates, uploads the broadcast information, the signal intensity and the vehicle coordinates to a server in wireless connection with the backhaul module through the backhaul module, and the server calculates and obtains the coordinates of the Bluetooth beacons through received data.
Preferably, the bluetooth beacon broadcasts at a frequency twice per second, and transmits a broadcast signal.
The invention also provides a method for locating an object by using the Beidou RTK and the Bluetooth beacon, which comprises the following steps,
step S1: a vehicle provided with the vehicle-mounted positioning equipment moves in the signal range of a Bluetooth beacon arranged on the unpowered equipment to be positioned, and a central control module of the vehicle-mounted positioning equipment controls a Bluetooth module to receive broadcast signals sent by the Bluetooth beacon in real time and judges the signal intensity;
step S2: the central control module controls the Beidou RTK module communicated with the central control module to randomly acquire three groups of position information of the vehicle, namely a position P1, a position P2 and a position P3;
step S3: the central control module uploads three groups of randomly acquired position information and corresponding broadcast signals and signal intensity data to a server through the return module;
step S4: according to the relation between the signal intensity and the distance, the server calculates the distance D1 between the position P1 and the Bluetooth beacon, the distance D2 between the position P2 and the Bluetooth beacon and the distance D3 between the position P3 and the Bluetooth beacon respectively through the signal intensity corresponding to each group of position information;
step S5: according to a spherical distance formula, the server calculates three groups of relational expressions which all contain longitude and latitude unknowns of the Bluetooth beacons through three groups of position information and D1, D2 and D3 obtained through calculation in the step S4, and then obtains solutions of longitude and latitude of coordinates of the three groups of Bluetooth beacons through pairwise permutation and combination of the three groups of relational expressions which all contain the same two unknowns;
step S6: and averaging or median values of the longitude and latitude of the coordinates of the three groups of Bluetooth beacons to finally obtain the accurate coordinates of the Bluetooth beacons.
Preferably, the bluetooth beacon broadcasts at a frequency twice per second, and transmits a broadcast signal.
Preferably, the relationship between the signal intensity and the distance in the step S4 is:
in the above formula, rsti is signal strength, abs (rsti) is absolute value of signal strength, a is signal strength at one meter distance from bluetooth beacon, n is environmental weakening factor, and d is distance between measured position of signal strength rsti and bluetooth beacon.
Preferably, the spherical distance formula in the step S5 is:
in the above formula, r is the radius of the sphere;and->Longitude and latitude, respectively, of a point on the sphere,/->And->A longitude angle and a latitude angle of another point on the sphere respectively; />And L is the distance between one point and the other point on the spherical surface.
Preferably, the position of the bluetooth beacon is set to be a position P4, and when the method is applied to the southern hemisphere, the relation formula including the longitude and latitude unknowns of the bluetooth beacon calculated by the server according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon position P4, respectively; d is the distance between position P and bluetooth beacon position P4, which includes position P1, position P2 and position P3;
the server substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and a Bluetooth beacon, a distance D2 between the position P2 and the Bluetooth beacon and a distance D3 between the position P3 and the Bluetooth beacon into the above formula to obtain three groups of relational formulas which all contain longitude and latitude unknowns of the position P4 of the Bluetooth beacon.
Preferably, the position of the bluetooth beacon is set to be P4, and when the method is applied to the northern hemisphere, the relation formula including the longitude and latitude unknowns of the bluetooth beacon calculated by the server according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon position P4, respectively; d is the distance between position P and bluetooth beacon position P4, which includes position P1, position P2 and position P3;
the server substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and a Bluetooth beacon, a distance D2 between the position P2 and the Bluetooth beacon and a distance D3 between the position P3 and the Bluetooth beacon into the above formula to obtain three groups of relational formulas which all contain longitude and latitude unknowns of the position P4 of the Bluetooth beacon.
The invention has the beneficial effects that: according to the invention, the Beidou RTK high-precision equipment integrated with the Bluetooth module is installed on a moving vehicle, meanwhile, a Bluetooth beacon is installed on unpowered equipment to be positioned, and the vehicle-mounted positioning equipment acquires beacon data and obtains vehicle coordinates through calculation to obtain the coordinates of the unpowered equipment; only need install on the vehicle that removes on locating device, reduced the cost that a large amount of equipment carried out high accuracy location by a wide margin, bluetooth beacon's power consumption is low simultaneously, has promoted the battery operating time of equipment location, has reduced the cost of equipment operation maintenance.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of hardware structure connection of a system for positioning an object by using a beidou RTK and a bluetooth beacon according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a method for positioning an object by using a beidou RTK and a bluetooth beacon according to an embodiment of the present invention.
Reference numerals illustrate:
the system comprises 1-vehicle-mounted positioning equipment, 11-central control module, 12-Beidou RTK module, 13-Bluetooth module, 14-back transmission module, 2-Bluetooth beacon and 3-server.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
As shown in fig. 1 and 2, the present invention provides a system for locating an object using a beidou RTK and a bluetooth beacon, comprising,
the vehicle-mounted positioning device 1 is arranged on a moving vehicle, and the vehicle-mounted positioning device 1 comprises a central control module 11, a Beidou RTK module 12 and a Bluetooth module 13 which are respectively and electrically connected with the central control module 11;
the Bluetooth beacon 2 is arranged on the unpowered equipment to be positioned, and the Bluetooth beacon 2 is used for sending a broadcast signal which comprises the number of the unpowered equipment;
the central control module 11 is further electrically connected with a backhaul module 14, when a vehicle provided with the vehicle-mounted positioning device 1 passes near the bluetooth beacon 2, the central control module 11 controls the bluetooth module 13 to collect broadcast signals sent by the bluetooth beacon 2 for multiple times and judge signal intensity, controls the Beidou RTK module 12 to obtain vehicle coordinates, and uploads broadcast information, signal intensity and vehicle coordinates to the server 3 in wireless connection with the backhaul module 14 through the backhaul module 14, and the server 3 obtains the coordinates of the bluetooth beacon 2, namely the coordinates of the unpowered device to be positioned, through multiple received data calculation.
As a preferred embodiment of the present invention, the bluetooth beacon 2 broadcasts at a frequency twice per second, and transmits broadcast information.
Compared with the traditional GPS positioning, the Bluetooth beacon 2 has the advantages of low power consumption, accurate positioning, convenience for indoor use and the like, and simultaneously has a 'letter' function of transmitting information and a 'mark' function of marking positions. And because the Bluetooth beacon 2 can continuously send signals, once the vehicle-mounted positioning equipment 1 integrated with the Bluetooth module 13 enters the signal coverage range of the Bluetooth beacon 2, an automatic response mechanism of the vehicle-mounted terminal can be formed, and the information receiving function can be realized without redundant manual operation of a user.
In the invention, the 'signal' function of the Bluetooth beacon 2 refers to a broadcast signal containing the equipment number of the unpowered equipment, the 'target' function refers to the signal intensity of the broadcast signal, and the server 3 which is in wireless connection with the backhaul module 14 can obtain the coordinates of the Bluetooth beacon 2, namely the coordinates of the unpowered equipment, through calculation according to the relation between the signal intensity and the distance and the spherical distance formula.
The invention also provides a method for positioning an object by using the Beidou RTK and the Bluetooth beacon based on the system, which comprises the following steps,
step S1: the vehicle provided with the vehicle-mounted positioning equipment 1 moves in the signal range of the Bluetooth beacon 2 arranged on the unpowered equipment to be positioned, and the central control module 11 of the vehicle-mounted positioning equipment 1 controls the Bluetooth module 13 to receive the broadcast signal sent by the Bluetooth beacon 2 in real time and judges the signal intensity;
step S2: the central control module 11 controls the Beidou RTK module 12 communicated with the central control module 11 to randomly acquire three groups of positions of the vehicle, namely a position P1, a position P2 and a position P3;
step S3: the central control module 11 uploads three groups of randomly acquired position information and corresponding broadcast signals and signal intensity data to the server 3 through the back transmission module 14;
step S4: according to the relation between the signal intensity and the distance, the server 3 calculates the distance D1 between the position P1 and the Bluetooth beacon 2, the distance D2 between the position P2 and the Bluetooth beacon 2 and the distance D3 between the position P3 and the Bluetooth beacon 2 respectively through the signal intensity corresponding to each group of position information;
step S5: according to the spherical distance formula, the server 3 calculates three groups of relational expressions which all contain the longitude and latitude unknowns of the Bluetooth beacons 2 through three groups of position information and D1, D2 and D3 obtained through calculation in the step S4, and then obtains solutions of the longitude and latitude of coordinates of the three groups of Bluetooth beacons 2 through pairwise permutation and combination of the three groups of relational expressions which all contain the same two unknowns;
step S6: and averaging or median values of the longitude and latitude of the coordinates of the three groups of Bluetooth beacons 2 to finally obtain the accurate coordinates of the Bluetooth beacons 2.
As a preferred embodiment of the present invention, the bluetooth beacon 2 broadcasts at a frequency twice per second, and transmits a broadcast signal. When a vehicle mounted with the in-vehicle positioning device 1 passes near the bluetooth beacon 2, the bluetooth module 13 receives a broadcast signal of the bluetooth beacon 2 and its signal strength.
As a preferred embodiment of the present invention, the relationship between the signal intensity and the distance in step S4 is:
in the above formula, rsti is the signal intensity, abs (rsti) is the absolute value of the signal intensity, a is the signal intensity at a distance of one meter from the bluetooth beacon 2, n is the environmental attenuation factor, and d is the distance between the measured position of the signal intensity rsti and the bluetooth beacon 2.
By the above calculation, the server 3 can calculate the distance D1 from the position P1 to the position of the bluetooth beacon 2, the distance D2 from the position P2 to the position of the bluetooth beacon 2, and the distance D3 from the position P3 to the position of the bluetooth beacon 2 according to the signal strength of the broadcast signal received by the bluetooth module 13.
As a preferred embodiment of the present invention, the spherical distance formula in step S5 is:
in the above formula, r is the radius of the sphere;and->Longitude and latitude, respectively, of a point on the sphere,/->And->A longitude angle and a latitude angle of another point on the sphere respectively; />Is one point and another point on the sphereThe angle between the two points is L, which is the distance between one point and the other point on the sphere.
As a preferred embodiment of the present invention, the position of the bluetooth beacon 2 is set to be the position P4, and when the above method is applied to the southern hemisphere, the relation formula including the longitude and latitude unknowns of the bluetooth beacon 2 calculated by the server 3 according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon 2 position P4, respectively; d is the distance between position P and Bluetooth beacon 2 position P4, position P includes position P1, position P2 and position P3;
the server 3 substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and the bluetooth beacon 2, a distance D2 between the position P2 and the bluetooth beacon 2, and a distance D3 between the position P3 and the bluetooth beacon 2 into the above formula to obtain three groups of relational expressions each including longitude and latitude unknowns of the position P4 of the bluetooth beacon 2.
As a preferred embodiment of the present invention, the position of the bluetooth beacon 2 is set to be P4, and when the method is applied to the northern hemisphere, the relation formula including the longitude and latitude unknowns of the bluetooth beacon 2 calculated by the server 3 according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon 2 position P4, respectively; d is the distance between position P and Bluetooth beacon 2 position P4, position P includes position P1, position P2 and position P3;
the server 3 substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and the bluetooth beacon 2, a distance D2 between the position P2 and the bluetooth beacon 2, and a distance D3 between the position P3 and the bluetooth beacon 2 into the above formula to obtain three groups of relational expressions each including longitude and latitude unknowns of the position P4 of the bluetooth beacon 2.
In the present embodiment, the method applied to the northern hemisphere and the method applied to the southern hemisphere described above are consistent in principle in the formula (spherical distance formula), and when the position coordinates in the formula are located in the northern hemisphere, it is necessary to perform positive and negative processing on the longitude coordinates and 90 ° for the latitude coordinatesIs processed to obtain:
considering the nature of the cosine function, the longitude coordinates are not subjected to positive and negative processing, and the relative sine function part is subjected to complementary angle processing, so that the relation formula containing the unknown longitude and latitude of the Bluetooth beacon 2, which is calculated by the server 3 according to the spherical distance formula in the embodiment, can be obtained through simplification.
By the above calculation, the server 3 calculates the previous calculationThe obtained D1, D2 and D3 are sequentially substituted into the D on the left side of the equation, and then the position P1, the position P2 and the position P3 obtained through the Beidou RTK module 12 are substituted into the D on the right side of the equationAnd->The three groups were calculated to contain +.>And->Equation of the unknown (latitude and longitude coordinates of bluetooth beacon 2 position P4).
Specifically, based on the position P1 and the corresponding D1 and the position P2 and the corresponding D2, the method can solveAndsolution of the first set of equations P4-1 (-/-)>，/>) The method comprises the steps of carrying out a first treatment on the surface of the Based on position P1 and its corresponding D1 and position P3 and its corresponding D3, it is possible to solve +.>And->Solution of the second set of equations P4-2 (-/-)>，/>) The method comprises the steps of carrying out a first treatment on the surface of the Based on position P2 and its corresponding D2 and position P3 and its corresponding D3, it is possible to solve +.>And->Solution of the third set of equations P4-3 (/ -)>，/>）。
Further, three sets of equation solutions P4-1, P4-2 and P4-3 solved by the server 3 software are respectively averaged to obtain the longitude and latitude coordinates of the Bluetooth beacon 2 (unpowered device)，) The method comprises the steps of carrying out a first treatment on the surface of the The final accurate unpowered device position can also be obtained by means of median value of three coordinates longitude and latitude.
The method is not limited to taking three position information and corresponding broadcast signals and signal intensities, and the step 2 of the method provided by the invention can also take more measurement positions and solve the measurement positions by using more data so as to estimate the accurate position of the unpowered equipment.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. A method for locating an object using a Beidou RTK and bluetooth beacons, comprising,
step S1: a vehicle provided with the vehicle-mounted positioning equipment moves in the signal range of a Bluetooth beacon arranged on the unpowered equipment to be positioned, and a central control module of the vehicle-mounted positioning equipment controls a Bluetooth module to receive broadcast signals sent by the Bluetooth beacon in real time and judges the signal intensity;
step S2: the central control module controls the Beidou RTK module communicated with the central control module to randomly acquire three groups of position information of the vehicle, namely a position P1, a position P2 and a position P3;
step S3: the central control module uploads three groups of randomly acquired position information and corresponding broadcast signals and signal intensity data to a server through the return module;
step S4: according to the relation between the signal intensity and the distance, the server calculates the distance D1 between the position P1 and the Bluetooth beacon, the distance D2 between the position P2 and the Bluetooth beacon and the distance D3 between the position P3 and the Bluetooth beacon respectively through the signal intensity corresponding to each group of position information;
step S5: according to a spherical distance formula, the server calculates three groups of relational expressions which all contain longitude and latitude unknowns of the Bluetooth beacons through three groups of position information and D1, D2 and D3 obtained through calculation in the step S4, and then obtains solutions of longitude and latitude of coordinates of the three groups of Bluetooth beacons through pairwise permutation and combination of the three groups of relational expressions which all contain the same two unknowns;
step S6: and averaging or median values of the longitude and latitude of the coordinates of the three groups of Bluetooth beacons to finally obtain the accurate coordinates of the Bluetooth beacons.
2. The method for locating objects using a Beidou RTK and Bluetooth beacons of claim 1, wherein the Bluetooth beacons broadcast at a frequency of twice per second, transmitting broadcast signals.
3. The method for locating objects using Beidou RTK and Bluetooth beacons of claim 1, wherein the relationship between signal strength and distance in step S4 is:
in the above formula, rsti is signal strength, abs (rsti) is absolute value of signal strength, a is signal strength at one meter distance from bluetooth beacon, n is environmental weakening factor, and d is distance between measured position of signal strength rsti and bluetooth beacon.
4. The method for locating objects using Beidou RTK and Bluetooth beacons of claim 1, wherein the spherical distance formula in step S5 is:
in the above formula, r is the radius of the sphere;and->Longitude and latitude, respectively, of a point on the sphere,/->And->A longitude angle and a latitude angle of another point on the sphere respectively; />And L is the distance between one point and the other point on the spherical surface.
5. The method for locating an object by using a Beidou RTK and a Bluetooth beacon according to claim 4, wherein the position of the Bluetooth beacon is set to be a position P4, and when the method is applied to a southern hemisphere, the relation formula including the unknown longitude and latitude of the Bluetooth beacon calculated by the server according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon position P4, respectively; d is the distance between position P and bluetooth beacon position P4, which includes position P1, position P2 and position P3;
the server substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and a Bluetooth beacon, a distance D2 between the position P2 and the Bluetooth beacon and a distance D3 between the position P3 and the Bluetooth beacon into the above formula to obtain three groups of relational formulas which all contain longitude and latitude unknowns of the position P4 of the Bluetooth beacon.
6. The method for locating an object by using a Beidou RTK and a Bluetooth beacon according to claim 4, wherein the position of the Bluetooth beacon is set to be P4, and when the method is applied to a northern hemisphere, the relation formula including the unknown number of the longitude and the latitude of the Bluetooth beacon calculated by the server according to the spherical distance formula is:
in the formula, R is the earth radius, and the specific value is 6371.004km;and->Longitude and latitude angles, respectively, of position P +.>And->Longitude and latitude angles of bluetooth beacon position P4, respectively; d is the distance between position P and bluetooth beacon position P4, which includes position P1, position P2 and position P3;
the server substitutes longitude and latitude coordinates of the position P1, the position P2 and the position P3, a distance D1 between the position P1 and a Bluetooth beacon, a distance D2 between the position P2 and the Bluetooth beacon and a distance D3 between the position P3 and the Bluetooth beacon into the above formula to obtain three groups of relational formulas which all contain longitude and latitude unknowns of the position P4 of the Bluetooth beacon.
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