CN108616808B - A kind of indoor personnel accurate positioning method and system - Google Patents

Abstract

The invention discloses a method and system for accurate positioning of indoor personnel. The method includes: S10: Receive node information sent by each reference node in a monitoring area and record the time point when the node information is received; wherein the node information includes all The identity information or location information of the reference node; S20: Calculate the location of the person to be located according to the node information and the time point. The system includes: a portable signal transmitter, several reference nodes, and a gateway. The present invention collects data that can characterize the movement of the person to be located in real time by arranging several reference nodes in the monitoring area, and after processing these data, accurately locates the person to be located, which is beneficial to realize the real-time positioning when the person to be located moves, and The hardware configuration required by the reference node is not high, which is beneficial to saving costs. In addition, the present invention also has the advantages of low energy consumption and high positioning accuracy.

Description

A kind of indoor personnel accurate positioning method and system

technical field

The invention relates to the technical field of indoor positioning, in particular to a method and system for accurate positioning of indoor personnel.

Background technique

With the development of smart home technology, the demand for indoor positioning is increasing. Traditional positioning technologies such as global positioning system (GPS) and Beidou system are mainly used in outdoor open spaces. The positioning system established by synchronous satellite is used for positioning. When indoors, due to the signal blocking of the building, the indoor satellite signal reception is poor, and accurate positioning cannot be completed.

In view of the above problems, there are also some solutions for indoor positioning using wireless signals in the prior art. In these solutions, some require personnel to wear electronic tags, and actively transmit signals (such as radio) to achieve positioning through electronic tags. The positioning method consumes more energy and requires more hardware support; some use the principle that the strength of the wireless signal gradually attenuates as the distance increases, and a wireless signal transmitter is set up in the room to be positioned, and the signal on the moving target is used. The receiving device obtains the wireless signal, and uses the obtained wireless signal strength as a parameter to calculate the distance from the wireless signal transmitter through the signal strength attenuation formula, and further realizes positioning, but the measurement accuracy of the signal strength gradually increases with the increase of the distance. Reduced, there are many interference items, and the impact is greater; some are located by TDOA (Time Difference of Arrival) method, and the person being located needs to wear an unknown node, and the unknown node simultaneously transmits ultrasonic waves and radio signals to the beacon node. The arrival time difference of the two signals realizes the distance measurement, and each beacon node sends the measured information to the base station, and the base station realizes the estimation of the location of the unknown node. In the positioning system, the beacon node needs to have a high hardware configuration to realize the distance measurement, and the cost is high, and the energy consumption of transmitting two kinds of signals is also large.

The patent document with publication number CN104994576A also proposes "an indoor personnel positioning system and method based on infrared human sensor array", the system includes several detection nodes, a base station node and a host computer; the detection nodes are deployed in different indoor locations. , the base station node is connected with the host computer through the serial port connection line; the detection node is wirelessly connected with the base station node, and the detection node detects the positioning personnel through the infrared human sensor array. Each infrared human body sensor array of the present invention includes 4 infrared human body sensors, each infrared human body sensor is responsible for detecting a range of 90 degrees, so as to realize a 360-degree all-round detection, and each detection node transmits the detection results to the base station through the ZigBee network The node calculates the location of the person. There is no need for the person to be located to wear any tags or signal sources, and it accepts completely passive positioning. The positioning accuracy is high. Since the detection radius of the infrared human body sensor is about 6 meters, the information of more than 3 detection nodes can achieve a positioning accuracy of about 1 meter, which can fully meet the needs of indoor personnel positioning. However, high accuracy can only be achieved when the person to be located is in a stationary state, and real-time precise positioning of the person to be located cannot be guaranteed when the person to be located is in a real-time moving state.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a method and system for accurate positioning of indoor personnel with low energy consumption, cost saving, high positioning accuracy, and real-time positioning according to the real-time movement state of the person to be positioned. .

In order to achieve the above object, the technical scheme adopted in the present invention is:

A method for accurate positioning of indoor personnel, the method comprises the following steps:

S10: Receive node information sent by each reference node in the monitoring area and record the time point when the node information is received; wherein the node information includes identity information or location information of each of the reference nodes;

S20: Calculate the position of the person to be located according to the node information and the time point.

Further, after the step S20, it also includes:

S30: Detect whether the node information is received again within a preset time when the last time the node information was received is the start time point, and if not received, check whether the human body sensor in the monitoring area senses any the presence of persons;

S40: If the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is used as the current position of the person to be located.

Further, the step S20 includes:

S21: Acquire the position of each reference node according to the node information;

S22: Calculate the time difference between receiving the node information sent by each reference node according to the time point;

S23: Calculate the position of the person to be located according to the position of each reference node and the time difference.

Further, the step S21 includes:

S211: Identify the node information, if the node information is the identity information of each of the reference nodes, extract the location information of each reference node according to the preset identity information and location information comparison table to obtain the information of each of the reference nodes location; if the node information is the location information of each of the reference nodes, the location of each of the reference nodes is acquired according to the location information of the reference node.

A precise positioning system for indoor personnel, the system includes:

Portable signal transmitters for broadcasting wireless signals;

a plurality of reference nodes, arranged in the monitoring area, for receiving wireless signals sent by the portable signal transmitter and sending node information to the gateway, where the node information includes identity information or location information of each of the reference nodes;

The processing node is configured to receive the node information sent by each reference node in the monitoring area, record the time point when the node information is received, and calculate the position of the person to be located according to the node information and the time point.

Further, the system also includes:

A number of human body sensors are arranged in the monitoring area to sense whether there is a person in the monitoring area.

Further, the processing node includes:

a receiving module, configured to receive the node information sent by each reference node in the monitoring area;

a time recording module for recording the time point when the node information is received;

The calculation module is configured to calculate the position of the person to be located according to the node information and the time point.

Further, the processing node also includes:

The detection and viewing module is used to detect whether the node information is received again within a preset time when the last time the node information was received as the start time point, and if not received, check the human body in the monitoring area Whether the sensor senses the presence of a person; if the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is used as the current position of the person to be located.

Further, the computing module includes:

The identification and acquisition unit is used to identify the node information. If the node information is the identity information of each of the reference nodes, then according to the preset identity information and location information comparison table, extract the location information of each reference node to obtain each reference node. the location of the reference node; if the node information is the location information of each of the reference nodes, obtain the location of each of the reference nodes according to the location information of each of the reference nodes;

a storage unit for storing a comparison table of identity information and location information;

a time difference calculating unit, configured to calculate, according to the time point, the time difference between receiving the node information sent by each reference node;

The personnel position calculation unit is configured to calculate the position of the person to be located according to the position of each reference node and the time difference.

Further, the portable signal transmitter includes a shoe body and a passive wireless transmitter arranged in the shoe body.

After adopting the above technical scheme, the beneficial effects of the present invention are: the present invention is easy to implement, convenient to use, and low in energy consumption;

By arranging a number of reference nodes in the monitoring area, the reference node is set to be able to send node information to a related device after receiving a specific wireless signal, and the related device is set to collect the arrival time point of the node information sent by each reference node and obtain it according to the node information. The position of each reference node, and then using multiple time points and positional relationships to establish a mathematical model, the position of the person to be located can be accurately calculated; it can be seen from the above that the reference nodes set in the monitoring area do not need to process and analyze data too much. Therefore, there is no need to set a higher configuration, which is conducive to reducing the total energy consumption of the monitoring area and saving the cost of setting reference nodes in the monitoring area; when the person to be located moves, there will be reference nodes in different locations that receive wireless signals. After sending the node information, the relevant equipment receives the node information sent by these reference nodes, and can calculate the new position of the person to be located according to the new node information and time point. It can be seen that the present invention can perform real-time positioning according to the movement of the person, Timely positioning and high precision;

Set to detect whether the node information is received again within a preset time from the start time point when the last time the node information was received. If not, check whether the human body sensor in the monitoring area senses a person Exist; if the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is used as the current position of the person to be located. It is beneficial to improve intelligence and realize personnel positioning when the person to be located is in a static state;

A portable signal transmitter is provided including a shoe body and a passive wireless transmitter provided in the shoe body. It is beneficial to liberate the hands of the person to be located. Using the weight of the human body, the passive wireless transmitter in the shoe body can be used to transmit signals as the person moves, so as to easily trigger the reference node and send data to the relevant equipment; The wireless transmitter can convert the mechanical energy of stepping into electrical energy, which is beneficial to further reduce energy consumption.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the accompanying drawings are as follows:

1 is a flowchart of a method for accurate positioning of indoor personnel provided in Embodiment 1 of the present invention;

2 is a flowchart of a method for accurate positioning of indoor personnel according to Embodiment 2 of the present invention;

3 is a block diagram of a system for accurate positioning of indoor personnel according to Embodiment 4 of the present invention;

FIG. 4 is a block diagram of a processing node in Embodiment 4 of the present invention.

Detailed ways

The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

The existing indoor personnel positioning technology solutions are relatively simple, cannot solve the real-time positioning of personnel dynamics, and cannot intelligently measure personnel positions when personnel change from dynamic to static. As the energy consumption increases, the cost also increases, and the later maintenance is also more difficult.

At present, with the rapid development of existing smart home technologies, the existing indoor personnel positioning systems can no longer meet the needs of smart home products to be linked with the movement of people, and cannot further provide users with a better home smart experience.

For example, when people walk in the house at night, if there is a positioning system, it can locate the position of the person in real time, and provide the control system with a way to control the lights in each room and aisle to turn on or off with the change of the person's position according to the location of the person. Accurate data, in this way, can realize the rational use of energy, achieve the purpose of energy saving and environmental protection and enhance the user's intelligent experience.

In view of the above-mentioned technical problems, the present invention provides a method and system for accurate positioning of indoor personnel that can perform real-time positioning according to the real-time movement state of the person to be located. The specific implementation scheme is as follows:

Example 1

As shown in FIG. 1 , this embodiment provides a method for accurate positioning of indoor personnel, and the method includes the following steps:

S10: Receive node information sent by each reference node in the monitoring area and record the time point when the node information is received; wherein the node information includes identity information or location information of the reference node;

Specifically, in this step, each reference node in the monitoring area is set to, after receiving a wireless signal of a specific frequency (the wireless signal can be transmitted by the person to be located), send node information to the device, and the device receives the node information , the successful reception will record the time point when the node information is received, and the content of the node information sent by the reference node can be the identity information of the reference node, or the location set by the reference node in the monitoring area; it should be noted that, If the content of the node information sent by the reference node is set to be its own identity information (such as ID), it is necessary to save an identity information and location parameter comparison table in advance in the device, so as to find and obtain the location of the reference node corresponding to the identity information; If the reference node is set to send its location information directly, the operation of saving the relevant comparison table can be omitted, but it is necessary to save the location parameters for the reference node after the location is set in advance for calling or setting to use GPS positioning technology to obtain it. Self-positioning; the information content of the above two nodes is preferably set as the identity information of the reference node. Sending identity information is more convenient and cost-effective than sending location information. Sending location information requires the reference node to have a storage function or a function of location positioning and location information acquisition. Configuration, if the above configuration is set for each reference node, it is bound to increase the cost.

S20: Calculate the position of the person to be located according to the node information and the time point.

In this step, after receiving the node information and recording the time point when the node information is received, the device uses the node information to obtain the position of the reference node, uses the time point when the node information is received to obtain the time difference, and establishes a mathematical calculation based on the position and the time difference The model uses the time difference to calculate the distance difference between the person to be located and each reference node, so as to obtain more accurate coordinates of the person to be located in the space. The location of the person to be located is more accurate.

In this embodiment, with the movement of the person to be located in the monitoring area, different reference nodes will send node information to the device in time, and update and calculate the position of the person to be located in turn, so as to realize the positioning in the state of moving the person;

Specifically, it is preferable to use a gateway to perform the above method. On the one hand, most existing gateways have high data processing capabilities, and on the other hand, gateways can establish connections with various terminals, which is beneficial to calculate the position of the person to be located and then locate it. Broadcast according to customer needs to facilitate data sharing and improve data utilization.

In summary, the present invention can realize real-time positioning with the movement of people, and can provide data support for the intelligent linkage of smart home products with the movement of people, and the reference nodes set in the monitoring area have low energy consumption, and do not require excessive hardware configuration. It is beneficial to control the setting cost of reference nodes; it should be noted that, in order to obtain the position of the person to be located more accurately, it is necessary to reasonably arrange the number and spatial position of the reference nodes.

Example 2

As shown in FIG. 2 , the difference between this embodiment and Embodiment 1 is that the method provided by this embodiment further includes after step S20:

S30: Detect whether the node information is received again within a preset time when the last time the node information was received is the start time point, and if not received, check whether the human body sensor in the monitoring area senses any the presence of persons;

Setting this step, when the node information is not received again, check whether the human body sensor in the monitoring area senses the existence of a person, so as to avoid the situation that the person's location cannot be obtained after no node information is sent, and the situation that no person exists directly by default occurs. It further improves the intelligence and accuracy of the gateway's calculation and analysis of the location of the personnel, and ensures intelligent processing when the personnel change from moving to stationary. Because under normal conditions, people will stay in a certain position for a long time after walking in the room for a certain period of time (such as sitting or lying down to watch TV, etc.), at this time, there is no reference node that is triggered to send node information, and it is impossible to use node information and The situation of calculating the position at time point occurs, so it is also necessary to set up a gateway to solve the real-time positioning of personnel in a stationary state;

Considering that during the movement of personnel, there is a situation of staying for a while, that is, the node information sent by the reference node will not be received for a short period of time, in order to avoid the energy consumption caused by the gateway checking the human sensor as soon as the gateway cannot receive the node information occurs, set the gateway to check the human body sensor only when it does not receive the node information again within a preset time after receiving the node information once; the preset time length can be customized according to the user's own needs. The design is beneficial to improve the intelligence of the gateway to process information, save energy and provide intelligent positioning at the same time.

The human body sensor can be set to be in a real-time sensing state as required, or it can be set to start sensing when the gateway needs to check whether the human body sensor senses the presence of a person, and shut down in time after obtaining the sensing result to save energy.

S40: If the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is used as the current position of the person to be located.

When the human body sensor senses the presence of a person, it is assumed that the person in the room is in a static state, that is, still staying at the position obtained last time. In summary, this embodiment can not only solve the positioning of indoor personnel when they are in a moving state, but also provide accurate positioning when the indoor personnel changes from a moving state to a stationary state, which can solve the dynamic and static real-time positioning of personnel, and further provide smart home products. Intelligent linkage provides more sufficient and accurate positioning data.

When new node information is received, the calculation of the position of the person to be located based on the node information and the time point will be performed again.

Preferably, the step S20 includes:

S21: Obtain the position of each reference node according to the node information; the method of obtaining the reference node position according to the node information depends on the situation. If the identification node information directly includes the reference node position, the gateway can directly use it. If the identification node information It only contains identity information, you need to call the identity information and node location comparison table to obtain the reference node location before it can be used. In general, the reference node is set to send the content of the node information of the identity information. This is because a gateway can Receiving and processing the node information of multiple reference nodes, and setting the gateway side to save the identity information and the node location comparison table can reduce the configuration standard of the reference node and save the cost of setting the reference node.

S22: Calculate the time difference for receiving the node information sent by each reference node according to the time point; in this step, the time difference is not used, but the time difference is used, and the distance between the person to be located and each reference node is reflected in the distance of each reference node. The time at which the node information is received by the gateway depends on the speed. For example, when the person to be located is closer to the reference node A and farther away from the reference node B, the time point when the gateway receives the node information of the reference node B is greater than the time when the gateway receives the reference node A. The time point of the node information.

S23: Calculate the position of the person to be located according to the position of each reference node and the time difference. A mathematical model is established according to the position coordinates and time difference of each reference node, and the position of the person to be located can be estimated by using the relevant algorithm, and only when the number of reference nodes corresponding to the received node information exceeds 3, it can be more accurate. Calculate the position of the person to be located, so the position setting of the reference node needs to have a reasonable control check according to its receiving distance.

Example 3

The difference between this embodiment and Embodiment 2 is that in the method provided by this embodiment, the step S21 includes:

S211: Identify the node information, if the node information is the identity information of each of the reference nodes, extract the location information of each reference node according to the preset identity information and location information comparison table to obtain the information of each of the reference nodes location; if the node information is the location information of each of the reference nodes, the location of each of the reference nodes is acquired according to the location information of the reference node.

Due to the different configurations of reference nodes, there may be differences in the content of node information, so the gateway needs to be able to identify the content of node information, process data differently according to the content, improve data processing efficiency, and increase the adaptability and practicability of the gateway.

Example 4

As shown in FIG. 3 and FIG. 4 , the present invention further provides an indoor personnel precise positioning system, the system is used to provide physical support for the methods described in the foregoing embodiments 1-3, and the system includes:

The portable signal transmitter 100 is used to broadcast and transmit wireless signals; specifically, the reference node 200 can receive by sending a fixed-frequency wireless signal;

A number of reference nodes 200 are arranged in the monitoring area, and the space where personnel positioning is required is collectively referred to as the monitoring area. The reference node 200 is used to receive the wireless signal sent by the portable signal transmitter 100 and send node information to the processing node 300. The node information includes The identity information or location information of the reference node 200; the way that the reference node 200 sends the node information to the processing node 300 can be transmitted through WiFi communication or ZigBee communication protocol, wherein ZigBee is a low power consumption protocol based on the IEEE802.15.4 standard . According to international standards, it is mainly used for data transmission between various electronic devices with short distance, low power consumption and low transmission rate. It is a cheap, low-power short-range wireless networking communication technology.

The processing node 300 is configured to receive the node information sent by each reference node 200 in the monitoring area, record the time point when the node information is received, and calculate the position of the person to be located according to the node information and the time point.

The processing node 300 may specifically select a gateway, and the gateway may be used for the interconnection of the wide area network or the interconnection of the local area network.

The system also includes:

A plurality of human body sensors 400 are arranged in the monitoring area to sense whether there is a person in the monitoring area. The human body sensor 400 can use a human body infrared sensor. The human body has a constant body temperature, generally at 36-37 degrees, so it emits infrared rays of a specific wavelength. If there is a person in the monitoring area, it will be sensed. The human body sensor 400 It is configured to be turned on when the processing node 300 has a viewing demand, and turned off after a sensing result is obtained. The arrangement of several human sensors 400 is beneficial to provide support for realizing the positioning of a person in a stationary state. The human body sensors 400 are generally arranged at four corners of a room to achieve 360-degree omnidirectional sensing.

This system can be used to control room lights (corridor lights, bedroom lights, living room lights, etc.) according to personnel positioning, that is, when people are moving, there will be real-time positioning data, and according to the real-time positioning data, the lights of which positions can be controlled , in which positions the lights are turned off, in addition, when the person is in a stationary state, the human body sensor 400 will be controlled to operate, the light control can be based on the human body sensor 400 sensing whether there are people in the room or not, turn off or keep the lights on all the time to achieve smart home experience and energy saving and environmental protection.

Preferably, the processing node 300 includes:

a receiving module 310, configured to receive the node information sent by each reference node 200 in the monitoring area;

The time recording module 320, after receiving the node information, is used to record the time point when the node information is received;

The calculation module 330 is configured to calculate the position of the person to be located according to the node information and the time point.

Further, the processing node 300 further includes:

The detection and viewing module 340 is configured to detect whether the node information is received again within a preset time when the last time the node information was received as the start time point, and if not received, check the human body sensor in the monitoring area Whether the device senses the presence of a person. It is beneficial to avoid frequent checking of human body sensors and reduce energy consumption.

If the checking result of the detection and viewing module 340 is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation by the calculation module 330 is taken as the current position of the person to be located. In addition to solving the positioning of indoor personnel when they are in a moving state, it is beneficial to provide accurate positioning when indoor personnel change from moving to stationary.

The computing module 330 includes:

The identification and acquisition unit 331 is used to identify the node information. If the node information is the identity information of each of the reference nodes, then according to the preset identity information and location information comparison table, extract the location information of each reference node to obtain the location of each of the reference nodes; if the node information is the location information of each of the reference nodes, obtain the location of each of the reference nodes according to the location information of each of the reference nodes;

The storage unit 332 is used to store the comparison table of identity information and location information; after setting the installation location of the reference node 200 , the installer saves the comparison table of identity information and location information of the reference node 200 .

a time difference calculating unit 333, configured to calculate the time difference between receiving the node information sent by each reference node according to the time point recorded by the time recording module 320;

The personnel position calculation unit 334 is configured to calculate the position of the to-be-located personnel terminal according to the position of each reference node and the time difference.

The portable signal transmitter 100 includes a shoe body and a passive wireless transmitter provided in the shoe body. The passive wireless transmitter adopts passive wireless switch technology. There is no need to set the battery or connect the power cord when using it. Just press the button to generate the mechanical energy, which can be automatically converted into electric energy, send out wireless signals, and set the passive wireless transmitter to Sending wireless signals to the reference node 200 is conducive to saving energy consumption; setting the passive wireless transmitter in the shoe body (such as the sole) is beneficial to liberate the hands of the user, and directly use the stepping action generated by the movement to control the passive wireless The transmitter transmits signals with the movement of people, which is more convenient to use and closer to the actual situation of people moving.

The present invention has a simple structure as a whole and is convenient to operate, and utilizes the reference node 200 and the human body sensor 400 to be set in the area to be monitored to perform static and dynamic real-time positioning of indoor personnel, which is beneficial to provide smart home products for intelligent linkage with the movement of personnel. Data support to realize the intelligent development of equipment and the sustainable development of energy saving and environmental protection.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (6)

1. an indoor personnel precise positioning method, is characterized in that, described method comprises the following steps: S10: Receive node information sent by each reference node in the monitoring area and record the time point when the node information is received; wherein the node information includes identity information or location information of each of the reference nodes; S20: Calculate the position of the person to be located according to the node information and the time point; S30: Detect whether the node information is received again within a preset time when the last time the node information was received is the start time point, and if not received, check whether the human body sensor in the monitoring area senses any the presence of persons; S40: If the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is taken as the current position of the person to be located; The step S20 includes: S21: Acquire the position of each reference node according to the node information; S22: Calculate the time difference between receiving the node information sent by each reference node according to the time point; S23: Calculate the position of the person to be located according to the position of each reference node and the time difference. 2. A kind of indoor personnel precise positioning method according to claim 1, is characterized in that, described step S21 comprises: S211: Identify the node information, if the node information is the identity information of each of the reference nodes, extract the location information of each reference node according to the preset identity information and location information comparison table to obtain the information of each of the reference nodes location; if the node information is the location information of each of the reference nodes, the location of each of the reference nodes is acquired according to the location information of the reference node. 3. An indoor personnel precise positioning system, wherein the system comprises: Portable signal transmitters for broadcasting wireless signals; a plurality of reference nodes, arranged in the monitoring area, for receiving wireless signals sent by the portable signal transmitter and sending node information to the gateway, where the node information includes identity information or location information of each of the reference nodes; a processing node, configured to receive the node information sent by each reference node in the monitoring area, record the time point when the node information is received, and calculate the position of the person to be located according to the node information and the time point; A number of human body sensors, arranged in the monitoring area, are used to sense whether there are people in the monitoring area; The processing nodes include: a receiving module, configured to receive the node information sent by each reference node in the monitoring area; a time recording module for recording the time point when the node information is received; The calculation module is configured to calculate the position of the person to be located according to the node information and the time point. 4. An indoor personnel precise positioning system according to claim 3, wherein the processing node further comprises: The detection and viewing module is used to detect whether the node information is received again within a preset time when the last time the node information was received as the start time point, and if not received, then check the human body in the monitoring area Whether the sensor senses the presence of a person; if the viewing result is that the human body sensor in the monitoring area senses the presence of a person, the position of the person to be located obtained from the previous calculation is used as the current position of the person to be located. 5. A kind of indoor personnel precise positioning system according to claim 3, is characterized in that, described computing module comprises: The identification and acquisition unit is used to identify the node information. If the node information is the identity information of each of the reference nodes, then according to the preset identity information and location information comparison table, extract the location information of each reference node to obtain each reference node. the location of the reference node; if the node information is the location information of each of the reference nodes, obtain the location of each of the reference nodes according to the location information of each of the reference nodes; a storage unit for storing a comparison table of identity information and location information; a time difference calculating unit, configured to calculate, according to the time point, the time difference between receiving the node information sent by each reference node; The personnel position calculation unit is configured to calculate the position of the person to be located according to the position of each reference node and the time difference. 6 . The indoor personnel precise positioning system according to claim 3 , wherein the portable signal transmitter comprises a shoe body and a passive wireless transmitter arranged in the shoe body. 7 .

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