CN104703130B - Localization method based on indoor positioning and its device - Google Patents

Abstract

A positioning method based on indoor positioning includes: (a) receiving data packets sent by at least two Bluetooth base stations to obtain signal strength values contained in the data packets; (b) calculating at least two Bluetooth base stations according to the signal strength values to a The distance value of the mobile terminal; (c) obtain the positioning point coordinates of the user holding the mobile terminal relative to the Bluetooth base station according to the calculated distance value; (d) obtain the user's moving distance according to the acceleration sensor, and obtain the user's location according to the geomagnetic sensor Move direction, to obtain the inertial navigation positioning point coordinates corresponding to the relative displacement of the user; (e) determine whether the user is currently moving, if so, execute step (f), otherwise execute step (g); (f) through the user relative to The positioning point coordinates of the Bluetooth base station perform multiple dynamic compensations on the inertial navigation positioning point coordinates; (g) replace the inertial navigation positioning point coordinates with the positioning point coordinates of the user relative to the Bluetooth base station, so as to compensate the inertial navigation positioning point coordinates at one time.

Description

Positioning method and device based on indoor positioning

technical field

The present invention relates to the technical field of indoor positioning, in particular to a positioning method and device based on indoor positioning, and a mobile terminal using the positioning device.

Background technique

With the development of current technology, the positioning technology of GPS and mobile phone base stations has gradually been popularized and used on mobile terminals. Users obtain related conveniences by using positioning and navigation applications.

GPS positioning technology is a positioning technology based on synchronous clocks sent by multiple satellites. The premise of accurate positioning is that the user needs to be located in an outdoor open environment that can receive satellite signals; the positioning technology of mobile phone base stations is a technology that uses multiple This technology can be applied indoors or outdoors, but the positioning technology of mobile phone base stations has the following problems: its positioning accuracy is not high.

Therefore, there is an urgent need to provide an indoor precise positioning device and method.

Contents of the invention

The object of the present invention is to provide a positioning method based on indoor positioning, which can achieve relatively accurate indoor positioning by deploying a certain number of Bluetooth base stations indoors, and makes up for the defects of GPS and mobile phone base station positioning technologies. In order to improve the stability of positioning, the data packets obtained from the Bluetooth base station are filtered. In view of the fact that filtering will cause positioning delay while improving the positioning stability, a combination of Bluetooth base station and inertial navigation is used to solve the existing problems. The problem.

In order to achieve the above object, the present invention provides a positioning method based on indoor positioning, which includes the following steps: (a) receiving data packets sent by at least two Bluetooth base stations to obtain the signal strength value contained in the data packets (b) calculating the distance value from the at least two bluetooth base stations to a mobile terminal according to the signal strength value; (c) obtaining the positioning point of a user holding the mobile terminal relative to the bluetooth base station according to the calculated distance value coordinates; (d) obtain the moving distance of the user according to an acceleration sensor, and obtain the moving direction of the user according to a geomagnetic sensor, so as to obtain the coordinates of the inertial positioning point corresponding to the relative displacement of the user; (e) judge whether the user is currently moving , if so, then execute step (f), otherwise execute step (g); (f) carry out multiple dynamic compensations to the inertial navigation anchor point coordinates by the anchor point coordinates of the user relative to the Bluetooth base station; (g) pass The coordinates of the positioning point of the user relative to the Bluetooth base station replace the coordinates of the positioning point of the inertial navigation, so as to perform a one-time compensation for the coordinates of the positioning point of the inertial navigation.

As an optional technical solution, step (f) further includes: (f1) calculating the positioning difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station; (f2) according to A setting coefficient to obtain a compensation value corresponding to the positioning difference; (f3) Compensating and correcting the coordinates of the inertial navigation positioning point according to the compensation value.

As an optional technical solution, step (f) further includes: within a first time threshold, repeatedly executing step (f1) to step (f3) in sequence.

As an optional technical solution, when the bluetooth base station is at least three bluetooth base stations, step (c) further includes: obtaining the coordinates of the positioning point of the user relative to the bluetooth base station by the plane positioning method and the least squares approximation method .

As an optional technical solution, step (e) further includes: obtaining a change amount of the user's current moving distance through an acceleration sensor, so as to determine whether the user is currently moving.

As an optional technical solution, between step (a) and step (b), further include: (b1) filtering the signal strength value of the data packet;

As an optional technical solution, step (b1) further includes: (b11) establishing a storage pipeline, so that the data packet is temporarily stored therein; (b12) after a second time threshold, from the Acquire the corresponding first data packet in the storage pipeline, and obtain the second data packet corresponding to the period from the second time threshold to a third time threshold, wherein the second time threshold occurs after the third time threshold ; (b13) Filtering the third data packet formed by the first data packet and the second data packet by the averaging method to obtain a filtered signal strength value.

The present invention also provides a positioning device based on indoor positioning, which includes: a data packet receiving module, used to receive data packets sent by at least two Bluetooth base stations, so as to obtain the signal strength value contained in the data packets; The distance value calculation module is connected with the data packet receiving module to calculate the distance value from the at least two bluetooth base stations to a mobile terminal according to the signal strength value; a bluetooth base station positioning point acquisition module is calculated with the distance value The modules are connected to obtain the positioning point coordinates of a user holding the mobile terminal relative to the Bluetooth base station according to the calculated distance value; an inertial navigation positioning point acquisition module is used to obtain the user's moving distance according to an acceleration sensor, And obtain the moving direction of the user according to a geomagnetic sensor, so as to obtain the corresponding inertial navigation positioning point coordinates of the user's relative displacement; a user movement judgment module is connected with the Bluetooth base station positioning point acquisition module and the inertial navigation positioning point acquisition module respectively , to determine whether the user is currently moving, if so, call a dynamic compensation module for multiple times, otherwise, call a one-time compensation module; the multiple dynamic compensation module is connected to the user movement judgment module for The coordinates of the inertial navigation positioning point are dynamically compensated multiple times through the coordinates of the positioning point of the user relative to the Bluetooth base station; the one-time compensation module is connected with the user movement judgment module to pass the user relative to The positioning point coordinates of the Bluetooth base station replace the inertial navigation positioning point coordinates, so as to perform one-time compensation for the inertial navigation positioning point coordinates.

As an optional technical solution, the multiple dynamic compensation module further includes: a positioning difference calculation unit, used to calculate the positioning between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station difference; a compensation value acquisition unit connected to the positioning difference calculation unit for obtaining a compensation value corresponding to the positioning difference according to a set coefficient; an inertial navigation positioning point correction unit connected to the The compensation value acquisition unit is connected to compensate and correct the coordinates of the inertial navigation positioning point according to the compensation value.

As an optional technical solution, the multiple dynamic compensation module further includes: a repeated calling unit, used to repeatedly call the positioning difference calculation unit, the compensation value acquisition unit and the compensation value acquisition unit in sequence within a first time threshold The inertial navigation positioning point correction unit.

As an optional technical solution, the user movement judging module further includes a user movement determining unit, configured to obtain a change amount of the user's current moving distance through an acceleration sensor, so as to determine whether the user is currently moving.

As an optional technical solution, the locating device further includes a filtering module, the filtering module is respectively connected with the data packet receiving module and the distance value calculation module, and is used for filtering the signal strength value of the data packet.

As an optional technical solution, the filtering module further includes: a storage pipeline establishment unit, configured to establish a storage pipeline, so that the data packets are temporarily stored therein; a data packet acquisition unit, established with the storage pipeline The units are connected to obtain the corresponding first data packet from the storage pipeline after a second time threshold, and obtain the second data packet corresponding to the period from the second time threshold to a third time threshold , wherein the second time threshold occurs after the third time threshold; a data packet filtering unit, connected to the data packet acquisition unit, is used to form the first data packet and the second data packet through the average method Filter the third packet to obtain the filtered signal strength value.

The present invention also provides a mobile terminal, which includes any one of the positioning devices based on indoor positioning described above.

As an optional technical solution, the mobile terminal further includes a three-axis acceleration sensor and a three-axis geomagnetic sensor; the three-axis acceleration sensor is used to obtain the user's moving distance, and the three-axis geomagnetic sensor is used to obtain the user's direction of movement.

As an optional technical solution, the mobile terminal further includes a three-axis gyroscope, and the three-axis gyroscope is used for inertial navigation and positioning.

As an optional technical solution, the mobile terminal receives the data packet sent by the Bluetooth base station through the Bluetooth 4.0 protocol.

The advantage of the present invention is that the method of inertial navigation based on the Bluetooth base station and mobile terminal can be applied to indoor environments that cannot be covered by GPS positioning technology, especially for large indoor complexes with complex terrain (such as large shopping malls, large indoor parking lots, etc.) ) has its important application significance. The present invention can further improve the real-time performance of positioning while ensuring positioning accuracy and low power consumption of the bluetooth base station, so that indoor positioning can meet the high demands of users for coherent navigation and precise positioning. In addition, the indoor positioning method of the present invention combines the inertial navigation of the mobile terminal with the positioning of the Bluetooth base station, and further uses the absolute position obtained by the Bluetooth base station to dynamically compensate the relative position obtained by the inertial navigation, thereby not only realizing accurate positioning Indoor positioning, but also to achieve coherent navigation applications.

Description of drawings

Fig. 1 is a schematic flowchart of the steps of the positioning method based on indoor positioning in an embodiment of the present invention.

Fig. 2 is a structural block diagram of the positioning device based on indoor positioning in an embodiment of the present invention.

Fig. 3 is a structural block diagram of the mobile terminal in an embodiment of the present invention.

Detailed ways

Specific implementations of the positioning method and device based on indoor positioning provided by the present invention will be described in detail below with reference to the accompanying drawings.

Referring to Fig. 1, the positioning method based on indoor positioning in one embodiment of the present invention includes: step S110, receiving data packets sent by at least two Bluetooth base stations, so as to obtain the signal strength value contained in the data packets ; Step S120, calculate the distance value from the at least two Bluetooth base stations to a mobile terminal according to the signal strength value; Step S130, obtain the positioning point of a user holding the mobile terminal relative to the Bluetooth base station according to the calculated distance value Coordinates; step S140, obtain the moving distance of the user according to an acceleration sensor, and obtain the moving direction of the user according to a geomagnetic sensor, so as to obtain the coordinates of the inertial positioning point corresponding to the relative displacement of the user; step S150, judge whether the user is currently moving , if so, execute step S160, otherwise execute step S170; step S160, perform multiple dynamic compensations to the coordinates of the inertial navigation anchor point through the coordinates of the anchor point of the user relative to the Bluetooth base station; step S170, through the relative The coordinates of the positioning point of the Bluetooth base station are replaced by the coordinates of the positioning point of the inertial navigation, so as to perform a one-time compensation for the coordinates of the positioning point of the inertial navigation.

Each step will be described in further detail below.

Step S110, receiving data packets sent by at least two Bluetooth base stations, so as to obtain signal strength values included in the data packets.

In this step, if the user's moving path is a fixed route, under certain conditions, it may only need to receive the data packets sent by two Bluetooth base stations (such as Beacon base stations). For plane positioning, it is necessary to receive data packets sent by at least three Bluetooth base stations. Of course, receiving more data packets sent by the Bluetooth base station is more conducive to accurate positioning of the user, but requires a large amount of data processing and calculation, so that the relevant equipment/terminal needs to bear a relatively large load. Therefore, preferably, it is enough to receive the data packets sent by three to five Bluetooth base stations, that is to say, it is a better solution to deploy three to five Bluetooth base stations indoors. In some other implementation manners, the number of the Bluetooth base stations may be determined according to actual conditions on site.

After receiving the data packet sent by the Bluetooth base station, the corresponding signal strength value (or RSSI value) and the corresponding identification code of the corresponding Bluetooth base station can be obtained from the data packet. Wherein, the identification code is used to identify the Bluetooth base station.

Since the wireless signal is susceptible to external interference, after receiving the data packet sent by the Bluetooth base station, the signal strength value included in the data packet fluctuates greatly. In order to enable the Bluetooth base station to have a stable signal for accurate positioning, it is necessary to filter the received signal strength values. Therefore, the following step may be further performed between step S110 and step S120: filter the signal strength value of the data packet. In this step, it may further include: (11) establishing a storage pipeline, so that the data packet is temporarily stored therein; (12) after a second time threshold, obtaining the corresponding first time threshold from the storage pipeline. A data packet, and obtain the second data packet corresponding to the period from the second time threshold to a third time threshold, wherein the second time threshold occurs after the third time threshold; (13) by averaging The method filters the third data packet formed by the first data packet and the second data packet, so as to obtain a filtered signal strength value. Wherein, considering the low power consumption of the Bluetooth base station, the situation that the number of data packets sent per second is small, the present invention uses FIFO (first in first out) timing difference to determine The data volume filtering method is used to solve the problem of poor filtering effect due to insufficient filtering data at the set time interval, so as to achieve better filtering effect while ensuring low power consumption of the Bluetooth base station. For example, in the prior art, if a high-power base station is used to send 100 data packets every second, and the 100 data packets are filtered by an average method. In order to reach the same filtering effect or better filtering effect, the present invention realizes filtering in the following manner: first, set up a storage pipeline (or claim FIFO pipeline) that can hold 100 data packets, so that the data packets are temporarily stored therein , when a data packet enters the storage pipeline, place the data packets in the storage pipeline in chronological order. After a second time threshold (such as one second), obtain the corresponding (latest) 10 first data packets from the storage pipeline, and obtain the second time threshold to a third time threshold (that is, The corresponding 90 second data packets during the first nine seconds), then the above-mentioned 10 first data packets and the above-mentioned 90 data packets are combined into 100 third data packets, and then the 100 first data packets are analyzed by the average method Three packets are filtered. A delay of a certain period of time (for example, 3 seconds) will be generated by adopting the above filtering method, and how to eliminate the delay problem will be further described below.

Step S120: Calculate a distance value from the at least two Bluetooth base stations to a mobile terminal according to the signal strength value.

After obtaining the (filtered) signal strength values, the distance value from the Bluetooth base station to a mobile terminal is calculated. The distance value can be calculated according to the following formula:

Among them, d _m is the distance between the known Bluetooth base station and the user;

RSSI _1m is the RSSI value measured when the distance between the Bluetooth base station and the user is 1 meter;

RSSI _cur is the RSSI value of the Bluetooth base station currently obtained by the mobile terminal;

n is the signal attenuation coefficient.

Since the situation of each Bluetooth base station is different, a general method cannot be used to realize the calculation of distance values satisfying all Bluetooth base stations to users, otherwise errors may easily occur. Therefore, the present invention reduces errors by including multiple parameters for distance value calculation, such as RSSI _1m and n, in the data packet. Therefore, while obtaining the signal strength value, the corresponding information of the parameters calculated by the distance value is received, and then the corresponding distance values from different Bluetooth base stations to the user are obtained.

Step S130: Obtain the coordinates of the positioning point of a user holding the mobile terminal relative to the Bluetooth base station according to the calculated distance value.

Within a time threshold, after obtaining data packets of at least three or more Bluetooth base stations, according to the geometric principle (or planar method) and the distance value calculated in step S120, combined with the coordinates of the Bluetooth base station, you can obtain the The location point coordinates of a user of the mobile terminal relative to the Bluetooth base station. In this step, it is preferable to adopt the least squares approximation method to realize the calculation of the user's positioning point coordinates relative to the Bluetooth base station, wherein the least squares approximation method is to make the distance between the user's positioning point relative to the Bluetooth base station and the known Bluetooth base station The difference is minimal. If more valid data packets are received, the obtained positioning information is more stable and reliable.

Step S140: Obtain the moving distance of the user according to an acceleration sensor, and obtain the moving direction of the user according to a geomagnetic sensor, so as to obtain the coordinates of the inertial positioning point corresponding to the relative displacement of the user.

Wherein, an acceleration sensor (such as a three-axis acceleration sensor) is used to obtain the moving distance of the user. At the same time, a geomagnetic sensor (for example, a three-axis geomagnetic sensor) is used to obtain the moving direction of the user. In this step, a three-axis gyroscope can be further used for inertial navigation (abbreviated as inertial navigation, the same below).

In this embodiment, acceleration data is collected by a three-axis acceleration sensor. In detail, firstly, the regular fluctuation information output by the acceleration chip of the three-axis acceleration sensor when the user moves normally is obtained, and the frequency of the fluctuation information can be fitted to become the step frequency of the user when moving. Then, the step frequency is processed by a signal processing module to obtain the user's step number. Then, the moving distance of the user can be obtained by multiplying the number of steps by the normal step distance. Further, the user's moving direction is obtained through the three-axis geomagnetic sensor, so that the user's relative displacement can be calculated, and combined with the coordinates of the user's starting point, to further obtain the corresponding inertial navigation positioning point coordinates.

Since inertial navigation is easily affected by factors such as non-walking movements and inconsistent step lengths, the obtained positioning has a certain error. As time increases, the error will continue to increase in theory. Considering that Bluetooth base station positioning is easily affected by the delay of signal stabilization processing, the actual position needs a delay of a time threshold (for example, about 3 seconds) to obtain, so, in the embodiment of the present invention, it is necessary to locate and Inertial navigation positioning is combined to accurately locate users. In the process of locating users through the combination of Bluetooth base station positioning and inertial navigation positioning, it is necessary to correct the obtained coordinate point information through a certain compensation method.

Step S150 , judging whether the user is currently moving, if yes, execute step S160 , otherwise execute step S170 . Step S160, perform multiple dynamic compensations on the coordinates of the inertial navigation positioning point through the coordinates of the positioning point of the user relative to the Bluetooth base station. Step S170, replacing the coordinates of the inertial positioning point with the coordinates of the positioning point of the user relative to the Bluetooth base station, so as to perform a one-time compensation for the coordinates of the positioning point of the inertial navigation.

Wherein, in step S150, the change amount of the user's current moving distance is further obtained through the acceleration sensor, so as to determine whether the user is currently moving. For example, it is determined whether the root mean square of the three-axis data output by the acceleration sensor is less than 0.2g (1g is the acceleration of gravity), and if less, it is considered that the user is currently at rest.

When it is determined that the user is in a moving state, step S160 is performed; when it is determined that the user is in a stationary state, step S170 is performed.

When the user is in a moving state, the following steps are performed to enable the user to dynamically compensate the coordinates of the inertial positioning point for multiple times relative to the coordinates of the positioning point of the Bluetooth base station. The steps include: (a) calculating the positioning difference between the coordinates of the inertial navigation positioning point and the positioning point coordinates of the user relative to the Bluetooth base station; (b) obtaining the positioning difference according to a set coefficient The corresponding compensation value, wherein the set coefficient is 1/2 to 1/20, preferably 1/5; (c) Compensating and correcting the coordinates of the inertial navigation positioning point according to the compensation value. Therefore, it not only solves the problem of a certain delay in the positioning of the Bluetooth base station, but also does not affect the continuity of user navigation. Preferably, within a first time threshold (for example, every second), step (a) to step (c) are repeatedly executed sequentially.

How to implement steps (a) to (c) is further illustrated below through an example.

For example, the coordinates of the positioning point of the user relative to the Bluetooth base station for the first time are (13.00, 25.00), and the coordinates of the positioning point of the inertial navigation are (18.00, 15.00). Calculate the positioning difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station to obtain a difference of 5 on the X axis and a difference of 10 on the Y axis. According to a set coefficient, such as 1/5, then the compensation value is (1.00, -2.00).

After one second, the corrected inertial navigation positioning point coordinates are (17.00, 17.00). After another second, the coordinates of the positioning point of the user relative to the Bluetooth base station for the second time are (7.00, 7.00), and the coordinates of the corrected inertial positioning point are (17.00, 17.00). Recalculating the positioning difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station can obtain a difference of 10 on the X axis and a difference of 10 on the Y axis. According to the set coefficient, such as 1/5, then the compensation value is (2.00, 2.00). After another second, the coordinates of the inertial navigation positioning point after the second correction are (15.00, 15.00). By analogy, the above step (a) to step (c) is repeated every second.

When the user is in a static state, by performing the following steps to replace the coordinates of the positioning point of the user with respect to the Bluetooth base station, and then perform a one-time compensation for the coordinates of the positioning point of the inertial navigation, thereby quickly to the actual location of the user.

An example will be used below to illustrate. When it is judged that the user is in a static state and it is confirmed that the Bluetooth base station positioning delay (for example, 3 seconds) has passed, replace the inertial navigation positioning point with the user's positioning point coordinates relative to the Bluetooth base station (for example (13.00, 25.00)) The coordinates are (18.00, 15.00) for a one-time compensation correction. That is, the coordinates of the corrected inertial navigation positioning point are (13.00, 25.00).

2, the present invention also provides a positioning device 200 based on indoor positioning, which includes: a data packet receiving module 210, a distance value calculation module 230, a Bluetooth base station positioning point acquisition module 240, an inertial navigation positioning A point acquisition module 250 , a user movement judgment module 260 , a multi-time dynamic compensation module 270 and a one-time compensation module 280 .

Wherein, the data packet receiving module 210 is configured to receive data packets sent by at least two Bluetooth base stations, so as to obtain signal strength values contained in the data packets. If the mobile path of the user is a fixed route, under certain conditions, it may only need to receive the data packets sent by two Bluetooth base stations (such as Beacon base stations). For plane positioning, it is necessary to receive data packets sent by at least three Bluetooth base stations. Of course, receiving more data packets sent by the Bluetooth base station is more conducive to accurate positioning of the user, but requires a large amount of data processing and calculation, so that the relevant equipment/terminal needs to bear a relatively large load. Therefore, preferably, it is enough to receive the data packets sent by three to five Bluetooth base stations, that is to say, it is a better solution to deploy three to five Bluetooth base stations indoors.

The distance value calculation module 230 may be connected to the data packet receiving module 210 to calculate the distance value from the at least two Bluetooth base stations to a mobile terminal according to the signal strength value. After the signal strength value is obtained, the distance value from the Bluetooth base station to a mobile terminal is calculated. The distance value can be calculated according to the following formula: Among them, d _m is the distance between the known Bluetooth base station and the user; RSSI _1m is the RSSI value tested when the distance between the Bluetooth base station and the user is 1 meter; RSSI _cur is the RSSI value of the Bluetooth base station currently obtained by the mobile terminal; n is the signal attenuation coefficient. Since the situation of each Bluetooth base station is different, a general method cannot be used to realize the calculation of distance values satisfying all Bluetooth base stations to users, otherwise errors may easily occur. Therefore, the present invention reduces errors by including multiple parameters for distance value calculation, such as RSSI _1m and n, in the data packet. Therefore, while obtaining the signal strength value, the corresponding information of the parameters calculated by the distance value is received, and then the corresponding distance values from different Bluetooth base stations to the user are obtained.

The bluetooth base station positioning point acquisition module 240 is connected to the distance value calculation module 230 to obtain the positioning point coordinates of a user holding the mobile terminal relative to the bluetooth base station according to the calculated distance value. Within a time threshold, data packets of at least three or more Bluetooth base stations are obtained. Further, according to the geometric principle (or plane method), and the calculated distance value, combined with the coordinates of the Bluetooth base station, the coordinates of the positioning point of the user relative to the Bluetooth base station can be obtained. Preferably, the least squares approximation method is used to calculate the coordinates of the user's positioning point relative to the Bluetooth base station, wherein the least squares approximation method is to minimize the difference between the user's positioning point relative to the Bluetooth base station and the known Bluetooth base station. If more valid data packets are received, the obtained positioning information is more stable and reliable.

The inertial positioning point acquisition module 250 is used to obtain the user's moving distance according to an acceleration sensor, and obtain the user's moving direction according to a geomagnetic sensor, so as to obtain the inertial positioning point coordinates corresponding to the user's relative displacement. In this embodiment, the inertial navigation positioning point acquisition module 250 collects acceleration data through the acceleration sensor (for example, a three-axis acceleration sensor). In detail, first obtain the regular fluctuation information output by the acceleration chip of the three-axis acceleration sensor when the user moves normally, the frequency of the fluctuation information can be fitted to become the step frequency of the user when moving, and then, through a signal The processing module (not shown in the figure) processes the step frequency to obtain the number of steps of the user, and then multiplies the number of steps by the normal step distance to obtain the moving distance of the user. Further, the inertial navigation positioning point acquisition module 250 obtains the user's moving direction through the three-axis geomagnetic sensor, so that the user's relative displacement can be calculated, and combined with the coordinates of the user's starting point, to further obtain the corresponding inertial navigation Anchor point coordinates.

The user movement judgment module 260 is connected with the Bluetooth base station positioning point acquisition module 240 and the inertial navigation positioning point acquisition module 250 respectively to determine whether the user is currently moving, and if so, call the multiple dynamic compensation module 270 , otherwise, call the one-time compensation module 280 . It should be noted that since the inertial navigation is easily affected by factors such as non-walking actions and inconsistent step lengths, the coordinates of the positioning points obtained by the above-mentioned Bluetooth base station positioning point acquisition module 240 and inertial navigation positioning point acquisition module 250 have certain errors , with the increase of time, the error will theoretically increase continuously. Considering that Bluetooth base station positioning is easily affected by the delay of signal stabilization processing, the actual position needs a delay of a time threshold (for example, about 3 seconds) to obtain, so, in the embodiment of the present invention, it is necessary to locate and Inertial navigation positioning is combined to accurately locate users. In the process of locating users through the combination of Bluetooth base station positioning and inertial navigation positioning, it is necessary to correct the obtained coordinate point information through a certain compensation method. In a preferred embodiment, the user movement judging module 260 further includes a user movement determination unit 261, which is used to obtain the variation of the user's current movement distance through an acceleration sensor, so as to determine whether the user is currently moving. When it is determined that the user is in a moving state, the multiple dynamic compensation module 270 is invoked, and when it is determined that the user is in a stationary state, the one-time compensation module 280 is invoked.

The multiple dynamic compensation module 270 is connected with the user movement judgment module 260, and is used to perform multiple dynamic compensations on the coordinates of the inertial navigation positioning point through the coordinates of the positioning point of the user relative to the Bluetooth base station. In a preferred embodiment, the multiple dynamic compensation module 270 further includes: a positioning difference calculation unit 271, which is used to calculate the difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station Positioning difference; a compensation value acquisition unit 272, connected to the positioning difference calculation unit 271, for obtaining a compensation value corresponding to the positioning difference according to a set coefficient; an inertial navigation positioning point correction unit 273 , which is connected to the compensation value acquisition unit 272, and is used for performing compensation correction on the coordinates of the inertial navigation positioning point according to the compensation value. Therefore, it not only solves the problem of a certain delay in the positioning of the Bluetooth base station, but also does not affect the continuity of user navigation. Preferably, the multiple dynamic compensation module 270 further includes: a repeated calling unit 275, used to repeatedly and sequentially call the positioning difference calculation unit 271, the compensation value obtaining unit 272 and the The inertial navigation positioning point correction unit 273 .

The one-time compensation module 280 is connected with the user movement judging module 260, and is used to replace the coordinates of the inertial positioning point with the coordinates of the positioning point of the user relative to the Bluetooth base station, so that the coordinates of the positioning point of the inertial navigation Make a one-time compensation to quickly reach the user's actual location.

In a preferred embodiment of the present invention, the positioning device 200 may further include a filtering module 220, the filtering module 220 is connected to the data packet receiving module 210 and the distance value calculating module 230 respectively, to filter all The signal strength value of the above packet. The filtering module 220 further includes: a storage pipeline establishment unit 221, configured to establish a storage pipeline so that the data packets are temporarily stored therein; a data packet acquisition unit 222, connected to the storage pipeline establishment unit 221, After a second time threshold, obtain the corresponding first data packet from the storage pipeline, and obtain the corresponding second data packet within the period from the second time threshold to a third time threshold, wherein The second time threshold occurs after the third time threshold; a data packet filtering unit 223, connected to the data packet acquisition unit 222, is used to form the first data packet and the second data packet by averaging Filter the third packet to obtain the filtered signal strength value.

Referring to FIG. 3 , the present invention also provides a mobile terminal 300 , which includes any one of the positioning devices 200 based on indoor positioning described above. In a preferred embodiment, the mobile terminal 300 further includes a three-axis acceleration sensor 301 and a three-axis geomagnetic sensor 302 . The three-axis acceleration sensor 301 is used to obtain the moving distance of the user, and the three-axis geomagnetic sensor 302 is used to obtain the moving direction of the user. Optionally, the mobile terminal 300 further includes a three-axis gyroscope 303, and the three-axis gyroscope 303 is used for inertial navigation and positioning. In addition, the mobile terminal 300 receives the data packet sent by the Bluetooth base station through the Bluetooth 4.0 protocol. The version of the Bluetooth protocol is not intended to limit the present invention. The bluetooth 4.0 protocol is preferably adopted, which can enable the mobile terminal to have good performance for user positioning and navigation.

In the embodiments of the present invention, the installation position of the positioning device based on indoor positioning is not used to limit the present invention. The positioning device based on indoor positioning can be set in a server or other equipment in addition to the above-mentioned mobile terminal, so as to complete precise positioning and coherent navigation for users.

The method of inertial navigation based on Bluetooth base station and mobile terminal described in the present invention is suitable for indoor environments that cannot be covered by GPS positioning technology, especially for large indoor complexes with complex terrain (such as large shopping malls, large indoor parking lots, etc.) important application significance. The present invention can further improve the real-time performance of positioning while ensuring positioning accuracy and low power consumption of the bluetooth base station, so that indoor positioning can meet the high demands of users for coherent navigation and precise positioning. In addition, the indoor positioning method of the present invention combines the inertial navigation of the mobile terminal with the positioning of the Bluetooth base station, and further uses the absolute position obtained by the Bluetooth base station to dynamically compensate the relative position obtained by the inertial navigation, thereby not only realizing accurate positioning Indoor positioning, but also to achieve coherent navigation applications.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be considered Be the protection scope of the present invention.

Claims (15)

1. A positioning method based on indoor positioning, comprising the following steps: (a) receiving data packets sent by at least two Bluetooth base stations to obtain signal strength values contained in the data packets; (b) calculating the distance value from the at least two bluetooth base stations to a mobile terminal according to the signal strength value; (c) Obtain the anchor point coordinates of a user holding the mobile terminal relative to the bluetooth base station according to the calculated distance value; (d) obtaining the moving distance of the user according to an acceleration sensor, and obtaining the moving direction of the user according to a geomagnetic sensor, so as to obtain the coordinates of the inertial positioning point corresponding to the relative displacement of the user; (e) judging whether the user is currently moving, if so, then execute step (f), otherwise execute step (g); (f) carry out the coordinates of the inertial navigation anchor point by the anchor point coordinates of the user relative to the Bluetooth base station Multiple dynamic compensations further include in step (f): (f1) calculating the positioning difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station; (f2) Obtain a compensation value corresponding to the positioning difference according to a set coefficient, wherein the set coefficient is 1/2 to 1/20; (f3) Compensating and correcting the coordinates of the inertial navigation positioning point according to the compensation value; (g) replacing the coordinates of the inertial navigation positioning point with the coordinates of the positioning point of the user relative to the Bluetooth base station, so as to perform a one-time compensation for the coordinates of the positioning point of the inertial navigation. 2 . The positioning method based on indoor positioning according to claim 1 , further comprising: within a first time threshold, repeatedly executing steps ( f1 ) to ( f3 ) in sequence in step (f). 3 . 3. The positioning method based on indoor positioning according to claim 1, wherein, when the bluetooth base station is at least three bluetooth base stations, further comprising in step (c): by plane positioning method and least squares Approximation method to obtain the coordinates of the positioning point of the user relative to the Bluetooth base station. 4 . The positioning method based on indoor positioning according to claim 1 , further comprising: obtaining the variation of the user's current moving distance through an acceleration sensor to determine whether the user is currently moving. 5. The positioning method based on indoor positioning according to claim 1, further comprising: (b1) filtering the signal strength value of the data packet between step (a) and step (b). 6. The positioning method based on indoor positioning according to claim 5, characterized in that, in step (b1), further comprising: (b11) establishing a storage pipeline, so that the data packet is temporarily stored therein; (b12) after a second time threshold, obtain the corresponding first data packet from the storage pipeline, and obtain the second data packet corresponding to the period from the second time threshold to a third time threshold, wherein said second time threshold occurs after said third time threshold; (b13) Filter the third data packet formed by the first data packet and the second data packet by an averaging method, so as to obtain a filtered signal strength value. 7. A positioning device based on indoor positioning, comprising: A data packet receiving module, used to receive data packets sent by at least two Bluetooth base stations, to obtain the signal strength value contained in the data packets; A distance value calculation module, connected to the data packet receiving module, used to calculate the distance value from the at least two Bluetooth base stations to a mobile terminal according to the signal strength value; A bluetooth base station positioning point acquisition module, connected with the distance value calculation module, in order to obtain the positioning point coordinates of a user holding the mobile terminal relative to the bluetooth base station according to the calculated distance value; An inertial navigation positioning point acquisition module, used to obtain the user's moving distance according to an acceleration sensor, and obtain the user's moving direction according to a geomagnetic sensor, so as to obtain the inertial navigation positioning point coordinates corresponding to the user's relative displacement; A user mobile judging module is connected with the bluetooth base station positioning point acquisition module and the inertial navigation positioning point acquisition module respectively, to judge whether the user is currently moving, if so, then call the dynamic compensation module a plurality of times, otherwise, call one by one One-time compensation module; The multiple dynamic compensation module is connected to the user movement judgment module, and is used to perform multiple dynamic compensations for the inertial navigation positioning point coordinates through the positioning point coordinates of the user relative to the Bluetooth base station, Wherein said multiple dynamic compensation module further includes: A positioning difference calculation unit, used to calculate the positioning difference between the coordinates of the inertial navigation positioning point and the coordinates of the positioning point of the user relative to the Bluetooth base station; A compensation value acquisition unit, connected to the positioning difference calculation unit, used to obtain a compensation value corresponding to the positioning difference according to a setting coefficient, wherein the setting coefficient is 1/2 to 1/20 ; An inertial navigation positioning point correction unit, connected to the compensation value acquisition unit, used to compensate and correct the inertial navigation positioning point coordinates according to the compensation value; The one-time compensation module is connected with the user movement judgment module, and is used to replace the coordinates of the inertial navigation positioning point with the coordinates of the positioning point of the user relative to the Bluetooth base station, so as to perform a one-time calculation of the coordinates of the inertial navigation positioning point. sexual compensation. 8. The positioning device based on indoor positioning according to claim 7, wherein the multiple dynamic compensation module further comprises: a repeat calling unit, which is used to repeatedly and sequentially call the a positioning difference calculation unit, the compensation value acquisition unit and the inertial navigation positioning point correction unit. 9. The positioning device based on indoor positioning according to claim 7, wherein the user movement judging module further comprises a user movement determining unit, which is used to obtain the variation of the user's current moving distance through an acceleration sensor, so as to Determine if the user is currently mobile. 10. The positioning device based on indoor positioning according to claim 7, wherein the positioning device further comprises a filter module, and the filter module is connected to the data packet receiving module and the distance value calculation module respectively , used to filter the signal strength value of the data packet. 11. The positioning device based on indoor positioning according to claim 10, wherein the filtering module further comprises: a storage pipeline establishment unit, configured to establish a storage pipeline so that the data packets are temporarily stored therein; A data packet acquisition unit, connected to the storage pipeline establishment unit, used to obtain the corresponding first data packet from the storage pipeline after a second time threshold, and acquire the second time threshold to a a second data packet corresponding to a period of a third time threshold, wherein the second time threshold occurs after the third time threshold; A data packet filtering unit, connected to the data packet obtaining unit, is used to filter the third data packet formed by the first data packet and the second data packet by averaging, so as to obtain a filtered signal strength value. 12. A mobile terminal, characterized by comprising the positioning device based on indoor positioning according to any one of claims 7 to 11 above. 13. The mobile terminal according to claim 12, wherein the mobile terminal further comprises a three-axis acceleration sensor and a three-axis geomagnetic sensor; the three-axis acceleration sensor is used to obtain the user's movement distance, and the The three-axis geomagnetic sensor is used to obtain the user's moving direction. 14. The mobile terminal according to claim 13, wherein the mobile terminal further comprises a three-axis gyroscope, and the three-axis gyroscope is used for inertial navigation and positioning. 15. The mobile terminal according to claim 12, wherein the mobile terminal receives the data packet sent by the Bluetooth base station through the Bluetooth 4.0 protocol.