CN104459605B - A kind of indoor floor location system and method - Google Patents

Abstract

The present invention provides an indoor floor positioning system and method. Every first positioning time, the positioning tag sends a positioning signal to the outside; each floor trigger will obtain the RSSI value, floor number, and trigger from the received positioning signal. The result is sent to the server as a summary information. At the same time, each floor trigger sends out a first trigger signal every preset second positioning time, and the first trigger signal includes the ID number of the floor trigger; the positioning tag according to The received first trigger signal sends out a second trigger signal, and the second trigger signal includes the ID number; each floor trigger selectively receives the second trigger signal, and sends the RSSI value, floor number, and trigger signal of the second trigger signal The result is sent to the server as summary information, and the trigger result is yes; the server makes statistics and judges the system status according to the summary information, and determines the current floor number.

Description

An indoor floor positioning system and method

technical field

The invention belongs to the technical field of wireless communication, and in particular relates to an indoor floor positioning system and method.

Background technique

In recent years, indoor positioning is one of the hot issues in the field of wireless communication technology. To achieve positioning in some high-rise buildings such as large cultural and sports venues, large supermarkets, shopping centers, etc., not only the positioning in the two-dimensional plane needs to be solved, but also the identification of floors is an urgent problem to be solved. This kind of floor positioning has an urgent demand in fields such as fire tracking and positioning.

At present, a more common indoor positioning system in the prior art is to install a floor switching device on each floor. When the positioning target transmits a positioning request, the floor switching device on the floor receives the positioning request and uses the built-in floor switching device. The number is fed back to the positioning target. However, the floor switching device has the following problems in the floor switching process: (1) in addition to installing conventional hardware, it is necessary to place special equipment for floor switching in stairwells and other positions, and a large number of such floor switching equipment Make the input cost extremely high. (2) The set algorithm cannot be corrected once a floor judgment error occurs during use, and there is a lack of settings that can be checked and corrected. (3) Due to the penetration of radio frequency signals, signals can also be received on the upper and lower adjacent floors, and the floor positioning is easily interfered by the equipment signals of the upper and lower adjacent floors, which greatly increases the possibility of floor judgment errors.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide an indoor floor positioning method with low cost, automatic positioning correction and maximum avoidance of floor interference.

According to an indoor floor positioning system provided by the present invention, it is characterized in that it includes a server, a positioning tag and several floor triggers;

The location tag is used to:

sending out a positioning signal every preset first positioning time, the positioning signal includes the ID number of the positioning tag,

Sending a second trigger signal outward according to the first trigger signal received from the floor trigger, the second trigger signal including the ID number of the trigger and the ID number of the positioning tag;

The floor triggers are used to:

Obtain the RSSI value of the positioning signal from the received positioning signal, and send the RSSI value of the positioning signal, the floor number of the floor trigger itself, the first trigger result, and the ID number of the positioning tag to the server as a summary information ;

sending out a first trigger signal every second preset positioning time, the first trigger signal including the ID number of the floor trigger,

Selectively receive the second trigger signal sent by the positioning tag, and send the RSSI value of the second trigger signal, the floor number of the floor trigger itself, the second trigger result and the ID number of the positioning tag to the server as a summary information;

Said server is used for:

Statistical analysis is performed on the summary information and the current floor number is updated.

Further, the server is used for:

When the floor numbers contained in all the summary information are the same as the current floor numbers stored in the server, enter the normal state;

When the floor number contained in at least one summary information is different from the current floor number saved in the server, enter the pre-cut state, and only in the pre-cut state, the server is used to perform statistical analysis on the summary information and update the current floor number.

Further, the server is configured to perform the following statistical analysis on several pieces of summary information received in a preset statistical period, so as to update the current floor number:

The first set of floor numbers is formed from the summary information with the smallest RSSI value, and the first probability of each floor number is obtained by multiplying the percentage of each floor number included in the first set of floor numbers by the first weight;

The second set of floor numbers is composed of summary information containing the second trigger result as "trigger", and the second set of floor numbers is obtained according to the percentage of each floor number included in the second set of floor numbers multiplied by the second weight. probability;

A third set of floor numbers is formed from all the summary information therein, and a third probability of each floor number is obtained by multiplying the percentage of each floor number included in the third set of floor numbers by a third weight;

Add the first probability, the second probability, and the third probability of each floor to obtain the pre-cut probability corresponding to each floor. If there is a maximum pre-cut probability greater than the preset threshold, the positioning tag will The floor number corresponding to the maximum pre-cutting probability is saved as the current floor number.

Further, when the server receives the summary information of the second trigger result of the first different floor in the normal state, it enters the pre-cut state, and at the same time, the counting period starts to count.

Further, when the floor trigger selectively receives the second trigger signal sent by the positioning tag, it only receives the second trigger signal in which the ID number of the floor trigger is consistent with its own ID number.

The present invention also provides an indoor floor positioning method, which is characterized in that an active positioning process is repeated every preset first positioning time, and a triggering positioning process is repeated every preset second positioning time;

The active positioning process includes: the positioning tag sends a positioning signal to the outside, and the positioning signal includes the ID number of the positioning tag,

Each floor trigger calculates the RSSI value of the positioning signal according to the received positioning signal, sets a trigger result as the first trigger result of "not triggered", and uses the built-in floor number of the floor trigger, the first trigger result , the RSSI value and the positioning tag ID number are sent to the server as a summary information;

The trigger location procedure includes:

Each floor trigger sends a first trigger signal to the outside, and the first trigger signal includes the ID number of the floor trigger,

The positioning tag sends out a second trigger signal according to the received first trigger signal, the second trigger signal includes the ID number of the trigger and the ID number of the positioning tag,

Each floor trigger selectively receives the second trigger signal, calculates the RSSI value of the second trigger signal, sets a trigger result as the second trigger result of "trigger", and sets the floor number corresponding to the ID number, The second trigger result, the RSSI value and the positioning tag ID number are sent to the server as a summary information;

After a preset statistical period, the server determines the current floor number according to the summary information received within the statistical period.

further,

When all the floor numbers contained in the summary information are the same as the current floor number determined by the server, the server enters a normal state;

When the floor number contained in at least one summary information is different from the current floor number determined in the server, the server enters the pre-cut state;

When the server receives the summary information of the second trigger result of the first different floor in the normal state, it switches to the pre-cut state, and at the same time, the counting period starts to count.

Further, the process of the server determining the current floor number further includes:

The first set of floor numbers is formed from the summary information with the smallest RSSI value, and the first probability of each floor number is obtained by multiplying the percentage of each floor number included in the first set of floor numbers by the first weight;

The second set of floor numbers is composed of summary information containing the second trigger result as "trigger", and the second set of floor numbers is obtained according to the percentage of each floor number included in the second set of floor numbers multiplied by the second weight. probability;

A third set of floor numbers is formed from all the summary information therein, and a third probability of each floor number is obtained by multiplying the percentage of each floor number included in the third set of floor numbers by a third weight;

Finally, add the first probability, the second probability, and the third probability of each floor to obtain the pre-cut probability corresponding to each floor. If there is a maximum pre-cut probability greater than the preset threshold, the server will The floor number corresponding to the maximum pre-cut probability is determined as the current floor number.

Further, in the process of selectively receiving the second trigger signal, each floor trigger only receives the second trigger signal in which the ID number of the floor trigger is consistent with its own ID number.

Compared with the prior art, the present invention has the following beneficial effects:

1. The scope of application of the present invention is not limited by the height of the floor, and has universal significance.

2. The judgment result of the present invention to the floor is a signal statistical result, which overcomes the difficulty that the difference between the actual data and the theoretical calculation data causes the judgment result to be wrong, and the judgment result of the present invention is more objective and accurate.

3. The present invention does not involve complex calculations, and has the advantage of low cost, so as to realize a wide range of applications.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a kind of indoor floor positioning system;

Fig. 2 is a kind of indoor floor positioning method;

Figure 3 is a statistical method for indoor floor positioning.

detailed description

The present invention will be described in detail below in terms of specific embodiments in conjunction with the accompanying drawings. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 1, it is an indoor floor positioning system provided by this embodiment, including a server, a positioning tag and several floor triggers;

The location tag is used to:

sending out a positioning signal every preset first positioning time, the positioning signal includes the ID number of the positioning tag,

Sending a second trigger signal outward according to the first trigger signal received from the floor trigger, the second trigger signal including the ID number of the trigger and the ID number of the positioning tag;

The floor triggers are used to:

Obtain the RSSI value of the positioning signal from the received positioning signal, and send the RSSI value of the positioning signal, the floor number of the floor trigger itself, the first trigger result, and the ID number of the positioning tag to the server as a summary information ;

sending out a first trigger signal every second preset positioning time, the first trigger signal including the ID number of the floor trigger,

Selectively receive the second trigger signal sent by the positioning tag, and send the RSSI value of the second trigger signal, the floor number of the floor trigger itself, the second trigger result and the ID number of the positioning tag to the server as a summary information;

Said server is used for:

Statistical analysis is performed on the summary information and the current floor number is updated.

The RSSI value refers to a received signal strength indicator, which is used to indicate the signal strength between two wireless devices, and the smaller the RSSI value, the better the signal.

The first positioning time and the second positioning time preset in this embodiment are both preset to 1 second, that is, the positioning tag sends a positioning signal every 1 second, and the floor trigger also sends a first trigger signal every 1 second.

Further, the server is used for:

When the floor numbers contained in all the summary information are the same as the current floor numbers stored in the server, enter the normal state;

When the floor number contained in at least one summary information is different from the current floor number saved in the server, enter the pre-cut state, and only in the pre-cut state, the server is used to perform statistical analysis on the summary information and update the current floor number.

Further, the server is configured to perform the following statistical analysis on several pieces of summary information received in a preset statistical period, so as to update the current floor number:

The first set of floor numbers is formed from the summary information with the smallest RSSI value, and the first probability of each floor number is obtained by multiplying the percentage of each floor number included in the first set of floor numbers by the first weight;

The second set of floor numbers is composed of summary information containing the second trigger result as "trigger", and the second set of floor numbers is obtained according to the percentage of each floor number included in the second set of floor numbers multiplied by the second weight. probability;

A third set of floor numbers is formed from all the summary information therein, and a third probability of each floor number is obtained by multiplying the percentage of each floor number included in the third set of floor numbers by a third weight;

Add the first probability, the second probability, and the third probability of each floor to obtain the pre-cut probability corresponding to each floor. If there is a maximum pre-cut probability greater than the preset threshold, the positioning tag will The floor number corresponding to the maximum pre-cutting probability is saved as the current floor number.

The preset statistical period in this embodiment is 5 seconds, that is, the server counts all the summary information received from the triggers on each floor according to the positioning signal and the second trigger signal every 5 seconds, and then confirms the current floor number according to statistical analysis of these summary information .

When the statistical period starts to be calculated, it means that the tag has received the first trigger signal sent by a trigger on a different floor, indicating that the position of the tag may have changed. If only the first trigger signal with the same floor number as currently determined by the server has been received, it means that the position of the positioning tag has always been within the signal receiving range of the floor trigger corresponding to the same floor number, so it can be determined that the positioning tag has been located at the same Floor, there is no floor change, no floor switch operation.

Further, when the server receives the summary information of the second trigger result of the first different floor in the normal state, it enters the pre-cut state, and at the same time, the counting period starts to count.

Further, when the floor trigger selectively receives the second trigger signal sent by the positioning tag, it only receives the second trigger signal in which the ID number of the floor trigger is consistent with its own ID number.

Each floor trigger is provided with a unique ID number, and each floor trigger is provided with the floor number of the floor. In this embodiment, only one floor trigger is set at each stairwell or elevator entrance, so the described The ID numbers of the above-mentioned floor triggers are in one-to-one correspondence with the floor numbers. Each floor trigger described in this embodiment selectively receives the second trigger signal according to the ID number of the floor trigger, which means that when the trigger receives the second trigger signal, it only receives the first response sent by itself. A second trigger signal is fed back from the first trigger signal, so there is a selective receiving step of detecting whether the ID numbers of the floor triggers are consistent.

As shown in Figure 2, the present invention also provides an indoor floor positioning method, including an active positioning process and a triggered positioning process;

The active positioning process includes: the positioning tag sends out a positioning signal once, and the positioning signal includes the ID number of the positioning tag; each floor trigger calculates the RSSI value of the positioning signal according to the received positioning signal, and sets a trigger result For the first trigger result of "not triggered", send the built-in floor number of the floor trigger, the first trigger result, the RSSI value and the positioning tag ID number to the server as a summary information;

The trigger location procedure includes:

Each floor trigger sends a first trigger signal to the outside, and the first trigger signal includes the ID number of the floor trigger,

The positioning tag sends out a second trigger signal according to the received first trigger signal, the second trigger signal includes the ID number of the trigger and the ID number of the positioning tag,

Each floor trigger selectively receives the second trigger signal, calculates the RSSI value of the second trigger signal, sets a trigger result as the second trigger result of "trigger", and sets the floor number corresponding to the ID number, The second trigger result, the RSSI value and the positioning tag ID number are sent to the server as a summary information;

Repeat the active positioning process every preset first positioning time, repeat the triggering positioning process every preset second positioning time, after a preset statistical cycle, the server according to the statistics The summary information received during the cycle determines the current floor number.

The trigger results in the summary information are divided into "triggered" and "not triggered", indicating that the summary information is also divided into two categories:

The first type of summary information comes from the positioning signal actively sent by the positioning tag, and the trigger result is "not triggered"; the second type of summary information comes from the second trigger signal fed back by the positioning tag in response to the first trigger signal sent by the floor trigger, and the trigger result is for "Trigger".

further,

When all the floor numbers contained in the summary information are the same as the current floor number determined by the server, the server enters a normal state;

When the floor number contained in at least one summary information is different from the current floor number determined in the server, the server enters the pre-cut state;

When the server receives the summary information of the second trigger result of the first different floor in the normal state, it switches to the pre-cut state, and at the same time, the counting period starts to count.

Further, as shown in Figure 3, the process of the server determining the current floor number further includes:

The first set of floor numbers is formed from the summary information with the smallest RSSI value, and the first probability of each floor number is obtained by multiplying the percentage of each floor number included in the first set of floor numbers by the first weight;

The second set of floor numbers is composed of summary information containing the second trigger result as "trigger", and the second set of floor numbers is obtained according to the percentage of each floor number included in the second set of floor numbers multiplied by the second weight. probability;

A third set of floor numbers is formed from all the summary information therein, and a third probability of each floor number is obtained by multiplying the percentage of each floor number included in the third set of floor numbers by a third weight;

Finally, add the first probability, the second probability, and the third probability of each floor to obtain the pre-cut probability corresponding to each floor. If there is a maximum pre-cut probability greater than the preset threshold, the server will The floor number corresponding to the maximum pre-cut probability is determined as the current floor number.

Further, in the process of selectively receiving the second trigger signal, each floor trigger only receives the second trigger signal whose ID number of the contained floor trigger is consistent with its own ID number.

In this embodiment, the first weight is 40%, the second weight is 40%, and the third weight is 20%. Each weight determines the influence of each factor on the judgment of the final floor number, and the present invention is not limited to this setting.

As shown in FIG. 1 , in this embodiment, the trigger is installed on the top of the stairwell or the elevator entrance where positioning service is required, and the positioning tag is worn by personnel. When a person moves from the 4th floor to the 5th floor and receives the first trigger signal sent by the floor trigger on the 5th floor, a second trigger signal containing the ID number of the floor trigger on the 5th floor is fed back, and the floor trigger on the 5th floor receives After the second trigger signal, obtain a summary information and send it to the server (not shown in Figure 1), the server detects that the floor number contained in the summary information is the 5th floor, inconsistent with the currently determined floor number (4th floor), the server Enter the pre-cut state, start to calculate the statistical period, and judge the floor based on the summary information received in the statistical period after a statistical period. The following is an example of the statistical analysis process.

The server described in this embodiment receives 10 trigger signal messages in total within 5 seconds, which are obtained through message parsing as shown in Table 1:

Table 1

floor RSSI value trigger result 5L 67 trigger 4L 75 not triggered 5L 64 not triggered 5L 65 trigger 4L 80 trigger 4L 73 not triggered 5L 67 not triggered 4L 81 not triggered 5L 75 not triggered 5L 72 not triggered

After analyzing the message to obtain the data in Table 1, perform the following statistics:

According to the sorting of RSSI values, the item with the smallest RSSI value is taken out, and the third summary information is obtained, that is, the first set of floor numbers contains only one summary information:

5L 64 not triggered

According to the percentage of each floor number contained in the first set of floor numbers multiplied by the first weight 40%, the first probability of floor number 5 is 100%*40%=40%.

Summarize the summary information whose trigger result is "triggered", and obtain the following 3 items as the second set of floor numbers.

5L 67 trigger 5L 65 trigger 4L 80 trigger

Statistics obtained:

5L 2 data accounted for 67%;

4L 1 data accounted for 33%.

According to the percentage of each floor number contained in the second set of floor numbers multiplied by the second weight 40%, the second probability of obtaining each floor number is calculated:

The second probability of floor number 5 is 67%*40%=26.8%;

The second probability of floor number 4 is 33%*40%=13.2%.

The third set of floor numbers is composed of all the summary information in Table 1, and the statistics of all the summary information are obtained according to the floor numbers:

5L 6 data 60% proportion;

4L 4 data 40% proportion.

According to the percentage of each floor number contained in the third set of floor numbers multiplied by the third weight 20%, the third probability of obtaining each floor number is calculated:

The third probability of floor number 5 is 60%*20%=12%;

The third probability of floor number 4 is 40%*20%=8%.

Finally, add the first probability, second probability, and third probability of each floor to obtain the corresponding pre-cut probability of each floor:

The pre-cut probability of floor number 5 is 40%+26.8%+12%=78.8%;

The pre-cut probability of floor number 4 is 13.2%+8%=21.2%.

The maximum pre-cut probability is 78.8% corresponding to floor number 5, and it is judged whether it exceeds the threshold of 50%. From 78.8%>50%, it can be seen that the server needs to update the current floor number, so the server switches floors and re-determines the current floor number as 5. The floor numbers in the summary information received at this time are all 5, which is consistent with the current floor number determined by the server, and the server enters a normal state. If the floor number 6 or 4 appears in the summary information received at this time, which is inconsistent with the current floor number determined by the server, the server enters the pre-cut state, enters the statistical cycle again, and performs statistical analysis again to determine the floor number. If the maximum pre-cut probability is less than or equal to the threshold, the original floor number determined by the server remains unchanged.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (7)

1. A kind of 1. indoor floor location system, it is characterised in that including server, positioning label and several floor triggers；

   The positioning label is used for：

   One-time positioning signal is sent out every default first positioning time, the positioning signal includes positioning tag ID Number,

   The first trigger signal according to being received from floor trigger is sent out the second trigger signal, second trigger signal ID number comprising the trigger and the positioning tag ID number；

   The floor trigger is used for：

   The RSSI value of positioning signal is obtained from the positioning signal received, by the RSSI value of the positioning signal, floor Trigger itself floor number, the first triggering result and the positioning tag ID number are sent to server as a summary information；

   The first trigger signal is sent out every default second positioning time, first trigger signal includes the floor The ID number of trigger,

   Selectivity receives the second trigger signal that positioning label is sent, by the RSSI value of the second trigger signal, floor trigger certainly Body floor number, the second triggering result and the positioning tag ID number are sent to server as a summary information；

   The server is used for：

   Statistical analysis is carried out to the summary information and updates current floor number；The server is additionally operable to default to one

   Measurement period in some summary informations for receiving carry out following statistical analysis, so as to update current floor number：

   Floor number first set is formed by the minimum summary information of wherein RSSI value, included according to the floor number first set Each floor number percentage is multiplied by the first weight, obtains the first probability of each floor number；

   Floor number second set is formed for the summary information of " triggering " by wherein including the second triggering result, according to the floor number Each floor number percentage that second set includes is multiplied by the second weight, obtains the second probability of each floor number；

   Floor number the 3rd is formed by wherein all summary informations to gather, each floor number included according to the floor number the 3rd set Percentage is multiplied by the 3rd weight, obtains the 3rd probability of each floor number；

   By the first probability of each floor, the second probability, the 3rd probability is added, and obtains pre-cut probability corresponding to each floor, if It is more than default threshold value in the presence of the pre-cut probability of maximum, then positions label by floor number corresponding to the maximum pre-cut probability Save as current floor number.
2. 2. system according to claim 1, it is characterised in that the server is used for：

   When the floor number that all summary informations include is all identical with the current floor number preserved in server, into normal State；

   When the current floor difference preserved in the floor number and server that at least one summary information includes, into pre-cut shape State, only in pre-cut state, server is used to carry out statistical analysis to the summary information and updates current floor number.
3. 3. system according to claim 1, it is characterised in that the server receives first in normal condition not When triggering the summary information of result with the second of floor, into pre-cut state, meanwhile, the measurement period starts to start at.
4. 4. system according to claim 1, it is characterised in that the floor trigger selectively receives positioning label and sent The second trigger signal when, only receive the floor trigger included ID number it is consistent with itself ID number it is described second triggering Signal.
5. A kind of 5. indoor floor location method, it is characterised in that repeat a positive location every default first positioning time Flow, a triggering positioning flow is repeated every default second positioning time；

   The positive location flow includes：Positioning label is sent out one-time positioning signal, and the positioning signal includes positioning and marked Sign ID number,

   Each floor trigger calculates the RSSI value of positioning signal according to the positioning signal that receives, set one trigger result as " not triggering " first triggering result, by the floor number built in floor trigger, it is described first triggering result, the RSSI value and The positioning tag ID number is sent to server as a summary information；

   The triggering positioning flow includes：

   Each floor trigger is sent out one first trigger signal, and first trigger signal includes the ID of the floor trigger Number,

   Positioning label is sent out the second trigger signal according to the first trigger signal received, and second trigger signal includes The ID number of the trigger and the positioning tag ID number,

   Each floor trigger selectively receives second trigger signal, calculates the RSSI value of second trigger signal, setting One triggering result is the second triggering result of " triggering ", and floor number corresponding to the ID number, described second are triggered into result, described RSSI value and the positioning tag ID number are sent to server as a summary information；

   After a default measurement period, the server determines according to the summary information received in the measurement period Current floor number；

   The server determines that the process of current floor number further comprises：

   Floor number first set is formed by the minimum summary information of wherein RSSI value, included according to the floor number first set Each floor number percentage is multiplied by the first weight, obtains the first probability of each floor number；

   Floor number second set is formed for the summary information of " triggering " by wherein including the second triggering result, according to the floor number Each floor number percentage that second set includes is multiplied by the second weight, obtains the second probability of each floor number；

   Floor number the 3rd is formed by wherein all summary informations to gather, each floor number included according to the floor number the 3rd set Percentage is multiplied by the 3rd weight, obtains the 3rd probability of each floor number；

   Finally, the first probability of each floor, the second probability, the 3rd probability are added, it is general obtains pre-cut corresponding to each floor Rate, if the maximum pre-cut probability be present is more than default threshold value, server is by building corresponding to the maximum pre-cut probability Level number is defined as current floor number.
6. 6. according to the method for claim 5, it is characterised in that when the floor number that all summary informations include all with clothes Being engaged in, current floor number determined by device is identical, and server enters normal condition；

   When identified current floor difference in the floor number and server that at least one summary information includes, server enters Pre-cut state；

   When the server receives the summary information of the second triggering result of first different floor in normal condition, switching For pre-cut state, meanwhile, the measurement period starts to start at.
7. 7. according to the method for claim 5, it is characterised in that each floor trigger selectively receives the second triggering letter During number, the ID number of the floor trigger included second trigger signal consistent with itself ID number is only received.