CN113938853B - Positioning method, device and system for indoor navigation - Google Patents
Positioning method, device and system for indoor navigation Download PDFInfo
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Abstract
The invention discloses a positioning method, a device and a system for indoor navigation. The positioning device comprises a data acquisition unit, a fusion positioning unit and a correction calculation unit. The positioning system includes an indoor positioning module, one or more wireless bluetooth beacons, and a data storage module. The method, the device and the system for positioning the mobile terminal in the indoor navigation process improve the instantaneity of the positioning result in the indoor navigation process by scanning and receiving Bluetooth beacon signals, directly searching corresponding electromagnetic fingerprints in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprints, combining a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering method, fusing calculation to obtain a first positioning result of the current position, correcting and calculating the first positioning result according to a step vector and a preset reserved delay time, and accordingly obtaining a second positioning result of the current position.
Description
Technical Field
The invention relates to the field of positioning of indoor navigation, in particular to a positioning method, a device and a system of indoor navigation.
Background
With the progress of navigation technology, people are used to navigation outdoors by using GPS collocation software of a mobile phone. In recent years, as the development of indoor navigation technology tends to mature, location services are deployed in indoor fields. Taking a hospital scenario as an example, a huge number of patients in a hospital need to visit every day, and it is important how to quickly guide the patients to enable them to reach departments, examination departments and drug offices. Whereas China Wei Jianwei incorporated "in-hospital positioning and navigation" into a hospital intelligent service hierarchical assessment project in 3 months of 2019, some relevant normative content includes: the system provides the intra-hospital positioning and navigation service related to the personal diagnosis and treatment activities for the patient, the patient can inquire the related diagnosis and treatment department positions and the queuing diagnosis and treatment conditions of the patient in real time at the mobile end, the diagnosis and treatment activity arrangement of a plurality of departments in the patient hospital or the medical conjunct can be obtained, and the optimal diagnosis and treatment path is planned for the patient. Also, the in-hospital navigation service provided to the patient has become an indispensable item in the construction of intelligent hospitals.
In the prior art, on one hand, the distance between the mobile phone and the base station is usually determined by receiving the signal strength (Received Signal Strength, RSS) of Wi-Fi base station or bluetooth beacon near the mobile phone, and the position of the mobile phone is estimated by triangulation method under the condition that the position of the base station or beacon is known; on the other hand, the positioning accuracy is assisted by a pedestrian dead reckoning method (Pedestrian dead reckoning, PDR) which uses inertial elements (Inertial measurement unit, IMU) of a mobile phone, an accelerometer (accelerometer), a gyroscope (gyroscillope), and a compass (magnetometer) to detect the walking steps and the direction of the user and further estimate the walking track of the user.
However, the prior art still has the following drawbacks: the positioning result has a delay, resulting in poor effect in indoor positioning.
Therefore, a positioning method, a positioning device and a positioning system for indoor navigation are needed at present, so that the problems in the prior art are solved.
Disclosure of Invention
Aiming at the existing technical problems, the invention aims to provide a positioning method, a device and a system for indoor navigation, thereby improving the real-time performance of a positioning result in the indoor navigation process.
The invention provides a positioning method for indoor navigation, which comprises the following steps: acquiring a Bluetooth beacon signal and a motion data set; the motion data set includes a step vector; according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database, fusing calculation is carried out to obtain a first positioning result of the current position; and correcting and calculating the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position.
In one embodiment, the fusing calculation is performed according to the bluetooth beacon signal, the motion data set and a preset spatial fingerprint database to obtain a first positioning result of the current position, which specifically is: comparing the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, thereby obtaining a corresponding first position; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
In one embodiment, the fusing calculation is performed according to the bluetooth beacon signal, the motion data set and a preset spatial fingerprint database to obtain a first positioning result of the current position, which specifically is: the Bluetooth beacon signal is sent to a cloud server, so that the cloud server compares the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, and a corresponding first position is obtained; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
In one embodiment, the correcting calculation is performed on the first positioning result according to the step vector, the preset correction parameter set and the preset reserved delay time, so as to obtain a second positioning result of the current position, which specifically is: acquiring a first step vector corresponding to the reserved delay time in a plurality of step vectors according to the preset reserved delay time; and correcting and calculating the first positioning result according to a preset Kalman filtering method, a preset correction parameter set and the first step vector, so as to obtain a second positioning result of the current position.
In one embodiment, before acquiring the bluetooth beacon signal and the motion data set and storing the step vector, the method further comprises: and acquiring electromagnetic fingerprints of each point in the room to be positioned according to a preset acquisition density, and storing all acquired electromagnetic fingerprints into a spatial fingerprint database.
The invention also provides a positioning device for indoor navigation, which comprises a data acquisition unit, a fusion positioning unit and a correction calculation unit, wherein the data acquisition unit is used for acquiring Bluetooth beacon signals and motion data sets; the fusion positioning unit is used for carrying out fusion calculation according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database to obtain a first positioning result of the current position; the correction calculation unit is used for carrying out correction calculation on the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position.
In one embodiment, the positioning device further comprises a pre-acquisition unit, wherein the pre-acquisition unit is used for acquiring electromagnetic fingerprints of each point in the room to be positioned according to a preset acquisition density, and storing all acquired electromagnetic fingerprints into a spatial fingerprint database.
The invention also provides a positioning system for indoor navigation, which comprises an indoor positioning module, one or more wireless Bluetooth beacons and a data storage module, wherein the indoor positioning module, the one or more wireless Bluetooth beacons and the data storage module are mutually in communication connection, the indoor positioning module is used for executing the positioning method for indoor navigation, the wireless Bluetooth beacons are used for transmitting Bluetooth beacon signals, and the data storage module comprises a spatial fingerprint database which is used for storing electromagnetic fingerprints.
In one embodiment, the positioning system further comprises a user interaction module for sending the second positioning result to a user.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the invention provides a positioning method, a device and a system for indoor navigation, which are characterized in that a Bluetooth beacon signal is received through scanning, a corresponding electromagnetic fingerprint is directly searched in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprint, a first positioning result of a current position is obtained through fusion calculation according to a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering combination method, and the first positioning result is corrected and calculated according to a step vector and a preset reserved delay time, so that a second positioning result of the current position is obtained.
Drawings
The invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 illustrates a flow chart of one embodiment of a positioning method for indoor navigation in accordance with the present invention;
FIG. 2 illustrates a flow chart of another embodiment of a positioning method for indoor navigation according to the present invention;
FIG. 3 illustrates a block diagram of one embodiment of a positioning device for indoor navigation in accordance with the present invention;
fig. 4 shows a block diagram of one embodiment of a positioning system for indoor navigation according to the present invention.
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.
Detailed description of the preferred embodiments
The embodiment of the invention firstly describes a kind of the device. Fig. 1 shows a flow chart of an embodiment of a positioning method for indoor navigation according to the present invention. As shown in fig. 1, the method comprises the steps of:
and S1, acquiring Bluetooth beacon signals and motion data sets.
In order to improve the accuracy of the current position positioning, the embodiment of the invention calculates the absolute position and the relative position of the current position at the same time, and performs fusion calculation on the absolute position and the relative position to obtain the final positioning. The calculation of the absolute position needs to acquire a bluetooth beacon signal, and the calculation of the relative position needs to be realized by calculating a motion track of a user, so that a motion data set needed or needed by the relative position is calculated, wherein the motion data set comprises acceleration data, walking direction data and a step vector.
In the prior art, the method still has the defects that the time is required for each calculation process and the transmission of data, and network delay with different degrees is caused, so that the accuracy of positioning is improved, but the real-time performance is poor, the data which is acquired by calculating the current position and is even tens of seconds before is acquired, in practical application, the positioning navigation is meaningless, because the poor real-time performance of positioning means that the user cannot acquire the correct position of the user at present, and the corresponding correct walking decision cannot be made.
In contrast, in the embodiment of the invention, the step vectors in the motion data set are additionally stored in a data storage mode such as a message queue (namely, the walking action track of each moment of a user is additionally stored), when the positioning navigation is required to be actually performed, the current relative position and the absolute position are not adopted for fusion calculation and are directly used as the positioning result, and after the positioning result is obtained, the positioning result is further corrected according to the step vectors in the message queue and then is output as the final positioning position.
S2, according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database, fusing calculation is carried out to obtain a first positioning result of the current position.
As described above, in order to improve the accuracy of the positioning result, the relative position and the absolute position need to be fused and calculated, that is, the acquired bluetooth beacon signal is compared with electromagnetic fingerprints in a preset spatial fingerprint database one by one, and the electromagnetic fingerprint identical to the bluetooth beacon signal and the position data corresponding to the electromagnetic fingerprint are acquired as the absolute position; then, estimating the walking track of the user according to the acceleration data and the walking direction data in the motion data set by a pedestrian dead reckoning method, so as to obtain the current relative position of the user; finally, the absolute position and the relative position are fused and calculated, so that a preliminary positioning result (first positioning result) is obtained.
In one embodiment, the bluetooth beacon signal is smoothed (e.g., averaged) before being compared to the electromagnetic fingerprint, so that the current bluetooth beacon signal strength is stable. In one embodiment, the comparison of the bluetooth beacon signal and the electromagnetic fingerprint is performed at the cloud server, so that the speed and efficiency of comparison calculation are improved. In one embodiment, the fusion calculation is performed by a Kalman filter fusion approach.
It can be understood that the smoothing processing mode of the bluetooth beacon signal can be any other data smoothing denoising method existing in the data processing field; on the premise of considering deployment cost or convenience, the comparison of the Bluetooth beacon signal and the electromagnetic fingerprint can be performed at the user terminal (downloading a spatial fingerprint database in the user terminal in advance); the preset filter combination method may be other fusion methods besides the kalman filter fusion method.
Thus, in one embodiment, step S2 is specifically: comparing the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, thereby obtaining a corresponding first position; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
In another embodiment, step S2 is specifically: the Bluetooth beacon signal is sent to a cloud server, so that the cloud server compares the Bluetooth beacon signal with each electromagnetic fingerprint in a preset space fingerprint database, and a corresponding first position is obtained; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
And S3, correcting and calculating the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position.
In practical applications, the total delay from the time the mobile receives the iBeacon signal to the time the fingerprint comparison is computed can be expressed as:
T total ＝T r +T a +T f +T n ；
wherein T is r Delay of the iBeacon packet is obtained for the program. T (T) a T, response delay due to RSS smoothing f Time-consuming delay of fingerprint comparison calculation, T n Is the delay with the network request. T (T) r The performance is slightly different on different user terminals, and the delay is generally about 0.5-1 second. T (T) a The delay of (1) is affected by the average degree of RSS, T with an RSS value updated every second a Is about 2 seconds; t (T) n Can pass through eachThe time difference between the network request calculated by secondary fingerprint comparison and the received calculation result is estimated; the overall delay is T total ≈3+T n Every second.
As described above, in order to improve the real-time performance of the indoor navigation positioning, when the positioning navigation is required to be actually performed, the current relative position and the absolute position are not adopted to perform fusion calculation and directly serve as the positioning result, but after the positioning result is obtained, the absolute position and the relative position before the preset reserved delay time in the message queue are selected to perform fusion calculation so as to obtain the second position, and all the second step vectors in the preset reserved delay time period, and all the second step vectors are accumulated on the second position, so that further correction of the positioning result is realized, and the delay is eliminated.
Specifically, in one embodiment, step S3 is specifically: after a first positioning result is obtained, selecting a first step vector corresponding to a preset reserved delay time in a message queue, and calculating a first correction coefficient according to the first step vector; further correcting the first positioning result according to the first correction coefficient and a preset correction parameter set to generate a second absolute position and a second relative position, and performing fusion operation on the second absolute position and the second relative position by using a preset Kalman filtering combination method to obtain a second position; and acquiring all second step vectors in the reserved delay time in the message queue, and sequentially accumulating all second step vectors to the second position to acquire a second positioning result. The correction parameter set includes a first covariance matrix and a second covariance matrix.
The calculation formula of the correction coefficient is as follows:
K＝P t [i]×H T (HP t [i]H T +R) -1 ；
specifically, the calculation process for further correcting the first positioning result is as follows:
x t [i+1]＝x t [i]+K(z t -Hx t [i])；
P t [i+1]＝(1-KH)P t [i]；
in the method, in the process of the invention,
representing the absolute position of the current user, P t Is the relative position of the current user (accumulated by step vectors), z t For the first positioning result, I and H are identity matrices and R is a second covariance matrix (covariance matrix of measurement noise is calculated based on RSS fingerprint comparison).
The invention provides a positioning method for indoor navigation, which is characterized in that a Bluetooth beacon signal is received through scanning, a corresponding electromagnetic fingerprint is directly searched in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprint, a first positioning result of a current position is obtained through fusion calculation according to a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering combination method, and correction calculation is carried out on the first positioning result according to a step vector and a preset reserved delay time, so that a second positioning result of the current position is obtained.
Second embodiment
In addition to the above method, the embodiment of the invention also describes another positioning method for indoor navigation. Fig. 2 shows a flow chart of another embodiment of a positioning method for indoor navigation according to the present invention.
As shown in fig. 2, the method includes:
a1: and acquiring electromagnetic fingerprints of each point in the room to be positioned according to a preset acquisition density, and storing all acquired electromagnetic fingerprints into a spatial fingerprint database.
In order to improve the accuracy of current position information acquisition, in the embodiment of the invention, not only absolute position information but also relative position information is acquired to improve the positioning accuracy by fusing and calculating the two position information later. The absolute location information is typically obtained by receiving a signal of a nearby WiFi base station or wireless bluetooth beacon and calculating from the signal and the known location of the WiFi base station or wireless bluetooth beacon; the relative position information can collect the current motion data set (such as the motion direction, the acceleration and the like) of the user, and the current motion data set is obtained through reckoning by a pedestrian dead reckoning method. Among other things, for deployment flexibility and convenience, embodiments of the present invention select wireless bluetooth beacons for signal transmission.
In the prior art, the calculation process of the absolute position information is often affected by different degrees due to multipath interference, different channels, barriers and mobile phone orientations, so in order to reduce such negative effects, in the embodiment of the invention, the electromagnetic fingerprints and the corresponding absolute positions of all points in the indoor space for providing the indoor navigation service are collected in advance, and the electromagnetic fingerprints and the absolute positions are associated and stored in a spatial fingerprint database, so that when a user needs to obtain the absolute positions in the indoor navigation process, the corresponding positions (absolute positions) of the electromagnetic fingerprints with consistent comparison can be obtained only by comparing the Bluetooth beacon signals received by current scanning with the electromagnetic fingerprints in the spatial fingerprint database after the smooth denoising process.
A2, acquiring Bluetooth beacon signals and motion data sets.
In order to improve the accuracy of the current position positioning, the embodiment of the invention calculates the absolute position and the relative position of the current position at the same time, and performs fusion calculation on the absolute position and the relative position to obtain the final positioning. The calculation of the absolute position needs to acquire a bluetooth beacon signal, and the calculation of the relative position needs to be realized by calculating a motion track of a user, so that a motion data set needed or needed by the relative position is calculated, wherein the motion data set comprises acceleration data, walking direction data and a step vector.
In the prior art, the method still has the defects that the time is required for each calculation process and the transmission of data, and network delay with different degrees is caused, so that the accuracy of positioning is improved, but the real-time performance is poor, the data which is acquired by calculating the current position and is even tens of seconds before is acquired, in practical application, the positioning navigation is meaningless, because the positioning does not mean that the user cannot acquire the correct position of the user at present, and the corresponding correct walking decision cannot be made.
In contrast, in the embodiment of the invention, the step vectors in the motion data set are additionally stored in a data storage mode such as a message queue (namely, the walking action track of each moment of a user is additionally stored), when the positioning navigation is required to be actually performed, the current relative position and the absolute position are not adopted for fusion calculation and are directly used as the positioning result, and after the positioning result is obtained, the positioning result is further corrected according to the step vectors in the message queue and then is output as the final positioning position.
A3, according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database, fusing calculation is carried out to obtain a first positioning result of the current position.
As described above, in order to improve the accuracy of the positioning result, the relative position and the absolute position need to be fused and calculated, that is, the acquired bluetooth beacon signal is compared with electromagnetic fingerprints in a preset spatial fingerprint database one by one, and the electromagnetic fingerprint identical to the bluetooth beacon signal and the position data corresponding to the electromagnetic fingerprint are acquired as the absolute position; then, estimating the walking track of the user according to the acceleration data and the walking direction data in the motion data set by a pedestrian dead reckoning method, so as to obtain the current relative position of the user; finally, the absolute position and the relative position are fused and calculated, so that a preliminary positioning result (first positioning result) is obtained.
In one embodiment, the bluetooth beacon signal is smoothed (e.g., averaged) before being compared to the electromagnetic fingerprint, so that the current bluetooth beacon signal strength is stable. In one embodiment, the comparison of the bluetooth beacon signal and the electromagnetic fingerprint is performed at the cloud server, so that the speed and efficiency of comparison calculation are improved. In one embodiment, the fusion calculation is performed by a Kalman filter fusion approach.
It can be understood that the smoothing processing mode of the bluetooth beacon signal can be any other data smoothing denoising method existing in the data processing field; on the premise of considering deployment cost or convenience, the comparison of the Bluetooth beacon signal and the electromagnetic fingerprint can be performed at the user terminal (downloading a spatial fingerprint database in the user terminal in advance); the preset filter combination method may be other fusion methods besides the kalman filter fusion method.
Thus, in one embodiment, step A3 is specifically: the Bluetooth beacon signal is sent to a cloud server, so that the cloud server compares the Bluetooth beacon signal with each electromagnetic fingerprint in a preset space fingerprint database, and a corresponding first position is obtained; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
In another embodiment, step A3 is specifically: the Bluetooth beacon signal and the motion data set are sent to a cloud server, so that the cloud server performs the following steps of comparing the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, and obtaining a corresponding first position; acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data; and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
And A4, correcting and calculating the first positioning result according to the step vector, the preset correction parameter set and the preset reserved delay time, so as to obtain a second positioning result of the current position.
In practical applications, the total delay from the time the mobile receives the iBeacon signal to the time the fingerprint comparison is computed can be expressed as:
T total ＝T r +T a +T f +T n ；
wherein T is r Delay of the iBeacon packet is obtained for the program. T (T) a T, response delay due to RSS smoothing f Time-consuming delay of fingerprint comparison calculation, T n Is the delay with the network request. T (T) r The performance is slightly different on different user terminals, and the delay is generally about 0.5-1 second. T (T) a The delay of (1) is affected by the average degree of RSS, T with an RSS value updated every second a Is about 2 seconds; t (T) n The time difference between the network request calculated by each fingerprint comparison and the received calculation result can be estimated; the overall delay is T total ≈3+T n Every second.
As described above, in order to improve the real-time performance of the indoor navigation positioning, when the positioning navigation is required to be actually performed, the current relative position and the absolute position are not adopted to perform fusion calculation and directly serve as the positioning result, but after the positioning result is obtained, the absolute position and the relative position before the preset reserved delay time in the message queue are selected to perform fusion calculation so as to obtain the second position, and all the second step vectors in the preset reserved delay time period, and all the second step vectors are accumulated on the second position, so that further correction of the positioning result is realized, and the delay is eliminated.
Specifically, in one embodiment, step A4 is specifically: after a first positioning result is obtained, selecting a first step vector corresponding to a preset reserved delay time in a message queue, and calculating a first correction coefficient according to the first step vector; further correcting the first positioning result according to the first correction coefficient and a preset correction parameter set to generate a second absolute position and a second relative position, and performing fusion operation on the second absolute position and the second relative position by using a preset Kalman filtering combination method to obtain a second position; and acquiring all second step vectors in the reserved delay time in the message queue, and sequentially accumulating all second step vectors to the second position to acquire a second positioning result. The correction parameter set includes a first covariance matrix and a second covariance matrix.
The calculation formula of the correction coefficient is as follows:
K＝P t [i]×H T (HP t [i]H T +R) -1 ；
specifically, the calculation process for further correcting the first positioning result is as follows:
x t [i+1]＝x t [i]+K(z t -Hx t [i])；
P t [i+1]＝(1-KH)P t [i]；
in the method, in the process of the invention,
representing the absolute position of the current user, P t Is the relative position of the current user (accumulated by step vectors), z t For the first positioning result, I and H are identity matrices and R is a second covariance matrix (covariance matrix of measurement noise is calculated based on RSS fingerprint comparison).
The invention provides a positioning method for indoor navigation, which is characterized in that a Bluetooth beacon signal is received through scanning, a corresponding electromagnetic fingerprint is directly searched in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprint, a first positioning result of a current position is obtained through fusion calculation according to a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering combination method, and correction calculation is carried out on the first positioning result according to a step vector and a preset reserved delay time, so that a second positioning result of the current position is obtained.
Detailed description of the preferred embodiments
Besides the method, the embodiment of the invention also describes a positioning device for indoor navigation. Fig. 3 is a block diagram showing an embodiment of a positioning device for indoor navigation according to the present invention.
As shown in fig. 3, the positioning device includes a data acquisition unit 11, a fusion positioning unit 12, and a correction calculation unit 13.
The data acquisition unit 11 is configured to acquire a bluetooth beacon signal and a motion data set, and store a step vector in the motion data set.
The fusion positioning unit 12 is configured to fuse and calculate to obtain a first positioning result of the current position according to the bluetooth beacon signal, the motion data set, and a preset spatial fingerprint database.
The correction calculation unit 13 is configured to perform correction calculation on the first positioning result according to the step vector and a preset reserved delay time, so as to obtain a second positioning result of the current position.
When indoor positioning is needed, the positioning device firstly acquires a Bluetooth beacon signal and a motion data set through the data acquisition unit 11 and stores a step vector in the motion data set; then, the first positioning result of the current position is obtained through fusion calculation by the fusion positioning unit 12 according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database; finally, the correction calculation unit 13 performs correction calculation on the first positioning result according to the step vector and the preset reserved delay time, so as to obtain a second positioning result of the current position.
In one embodiment, the positioning device further comprises a pre-acquisition unit, wherein the pre-acquisition unit is used for acquiring electromagnetic fingerprints of each point in the room to be positioned according to a preset acquisition density, and storing all acquired electromagnetic fingerprints into a spatial fingerprint database.
The invention provides a positioning device for indoor navigation, which is characterized in that a Bluetooth beacon signal is received through scanning, a corresponding electromagnetic fingerprint is directly searched in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprint, a first positioning result of a current position is obtained through fusion calculation according to a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering combination method, and correction calculation is carried out on the first positioning result according to a step vector and a preset reserved delay time, so that a second positioning result of the current position is obtained, and the positioning device improves the instantaneity of the positioning result in the indoor navigation process.
Detailed description of the preferred embodiments
In addition to the method and the device, the invention also describes a positioning system for indoor navigation. Fig. 4 shows a block diagram of one embodiment of a positioning system for indoor navigation according to the present invention.
As shown, the positioning system comprises an indoor positioning module 1, one or more wireless bluetooth beacons 2 and a data storage module 3, wherein the indoor positioning module 1, the one or more wireless bluetooth beacons 2 and the data storage module 3 are in communication connection with each other.
The indoor positioning module 1 is configured to perform the positioning method of indoor navigation as described above, thereby obtaining the second positioning result.
The wireless bluetooth beacon 2 is used to transmit bluetooth beacon signals to the indoor positioning module 1. When it is determined that it is necessary to provide an indoor navigation service, one or more wireless bluetooth beacons 2 are uniformly deployed throughout the indoor space.
The data storage module 3 comprises a spatial fingerprint database for storing electromagnetic fingerprints.
In one embodiment, the positioning system further comprises a user interaction module for sending the second positioning result to a user.
In one embodiment, the positioning system further comprises one or more user terminals, within which the indoor positioning module 1 is arranged such that the user terminals can perform the positioning method of indoor navigation as described above by means of the indoor positioning module.
The invention provides a positioning system for indoor navigation, which is characterized in that a Bluetooth beacon signal is received through scanning, a corresponding electromagnetic fingerprint is directly searched in a space fingerprint database, according to position data corresponding to the electromagnetic fingerprint, a first positioning result of a current position is obtained through fusion calculation according to a preset pedestrian dead reckoning method, a motion data set and a Kalman filtering combination method, and correction calculation is carried out on the first positioning result according to a step vector and a preset reserved delay time, so that a second positioning result of the current position is obtained, and the positioning system improves the instantaneity of the positioning result in the indoor navigation process.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A positioning method for indoor navigation, comprising:
acquiring a Bluetooth beacon signal and a motion data set; the motion data set includes a step vector;
according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database, fusing calculation is carried out to obtain a first positioning result of the current position;
correcting and calculating the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position; correcting and calculating the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position, wherein the method specifically comprises the following steps of: after a first positioning result is obtained, selecting a first step vector corresponding to a preset reserved delay time in a message queue, and calculating a first correction coefficient according to the first step vector; further correcting the first positioning result according to the first correction coefficient and a preset correction parameter set to generate a second absolute position and a second relative position, and performing fusion operation on the second absolute position and the second relative position by using a preset Kalman filtering combination method to obtain a second position; and acquiring all second step vectors in the reserved delay time in the message queue, and sequentially accumulating all second step vectors to the second position to acquire a second positioning result.
2. The positioning method of indoor navigation according to claim 1, wherein the fusing calculation is performed according to the bluetooth beacon signal, the motion data set and a preset spatial fingerprint database to obtain a first positioning result of a current position, specifically:
comparing the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, thereby obtaining a corresponding first position;
acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data;
and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
3. The positioning method of indoor navigation according to claim 1, wherein the fusing calculation is performed according to the bluetooth beacon signal, the motion data set and a preset spatial fingerprint database to obtain a first positioning result of a current position, specifically:
the Bluetooth beacon signal is sent to a cloud server, so that the cloud server compares the Bluetooth beacon signal with each electromagnetic fingerprint in a preset spatial fingerprint database, and a corresponding first position is obtained;
acquiring acceleration data and walking direction data in the motion data set, and calculating and acquiring a walking estimated position according to a preset pedestrian dead reckoning method, the acceleration data and the walking direction data;
and carrying out fusion calculation on the first position and the walking estimation position through a preset filtering combination method, so as to obtain a first positioning result of the current position.
4. A positioning method for indoor navigation according to any one of claims 1-3, wherein the acquisition of bluetooth beacon signals and motion data sets further comprises:
and acquiring electromagnetic fingerprints of each point in the room to be positioned according to a preset acquisition density, and storing all acquired electromagnetic fingerprints into a spatial fingerprint database.
5. The positioning device for indoor navigation is characterized by comprising a data acquisition unit, a fusion positioning unit and a correction calculation unit, wherein,
the data acquisition unit is used for acquiring Bluetooth beacon signals and motion data sets;
the fusion positioning unit is used for carrying out fusion calculation according to the Bluetooth beacon signal, the motion data set and a preset space fingerprint database to obtain a first positioning result of the current position;
the correction calculation unit is used for carrying out correction calculation on the first positioning result according to the step vector, a preset correction parameter set and a preset reserved delay time, so as to obtain a second positioning result of the current position; the correction calculation unit is further configured to: after a first positioning result is obtained, selecting a first step vector corresponding to a preset reserved delay time in a message queue, and calculating a first correction coefficient according to the first step vector; further correcting the first positioning result according to the first correction coefficient and a preset correction parameter set to generate a second absolute position and a second relative position, and performing fusion operation on the second absolute position and the second relative position by using a preset Kalman filtering combination method to obtain a second position; and acquiring all second step vectors in the reserved delay time in the message queue, and sequentially accumulating all second step vectors to the second position to acquire a second positioning result.
6. The indoor navigation positioning device of claim 5, further comprising a pre-acquisition unit configured to acquire electromagnetic fingerprints of points in the room to be positioned according to a preset acquisition density, and store all acquired electromagnetic fingerprints in a spatial fingerprint database.
7. An indoor navigational positioning system comprising an indoor positioning module, one or more wireless bluetooth beacons and a data storage module, said indoor positioning module, one or more wireless bluetooth beacons and data storage module being communicatively connected to each other, said indoor positioning module being adapted to perform the indoor navigational positioning method of any of claims 1-4, said wireless bluetooth beacons being adapted to transmit bluetooth beacon signals, said data storage module comprising a spatial fingerprint database, said spatial fingerprint database being adapted to store electromagnetic fingerprints.
8. The indoor navigational positioning system of claim 7, further comprising a user interaction module for transmitting the second positioning result to a user.
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