阅读说明：本技术 室内环境导航的定位方法及定位系统 (Positioning method and positioning system for indoor environment navigation ) 是由 高劲松 李双成 艾莉 杨光 于 2020-07-15 设计创作，主要内容包括：本发明提供一种室内环境导航的定位方法及定位系统,其中的方法包括如下步骤：S1、移动终端与RFID读卡器建立；其中,RFID读卡器随导航者在室内环境下移动；S2、在室内环境布置RFID标签,RFID读卡器与RFID标签进行通信获得标签数据；其中,标签数据包括RFID读写器与RFID标签之间的距离和RFID标签的位置坐标；S3、RFID读卡器根据标签数据利用三维定位算法定位RFID读卡器的当前位置,发送至移动终端。利用上述本发明能够在保障导航定位精度的同时极大的降低导航成本,为室内导航系统的实现提供有力的保障。(The invention provides a positioning method and a positioning system for indoor environment navigation, wherein the method comprises the following steps: s1, establishing the mobile terminal and the RFID card reader; the RFID card reader moves with a navigator in an indoor environment; s2, arranging an RFID label in an indoor environment, and enabling an RFID card reader to communicate with the RFID label to obtain label data; the tag data comprises the distance between the RFID reader-writer and the RFID tag and the position coordinate of the RFID tag; and S3, the RFID card reader positions the current position of the RFID card reader according to the label data by using a three-dimensional positioning algorithm and sends the current position to the mobile terminal. The invention can greatly reduce the navigation cost while ensuring the navigation positioning precision, and provides a powerful guarantee for the realization of an indoor navigation system.)

1. A positioning method for indoor environment navigation is characterized by comprising the following steps:

s1, the mobile terminal establishes communication with an RFID card reader, and the RFID card reader moves along with a navigator in an indoor environment;

s2, arranging an RFID label in an indoor environment, and enabling the RFID reader to communicate with the RFID label to obtain label data; wherein the tag data includes a distance between the RFID reader and the RFID tag and a position coordinate of the RFID tag;

and S3, the RFID card reader positions the current position of the RFID card reader according to the label data by using a three-dimensional positioning algorithm and sends the current position to the mobile terminal.

2. The positioning method for indoor environment navigation according to claim 1, wherein the RFID tags are arranged in an array form, and every four RFID tags form a square.

3. The positioning method for indoor environment navigation according to claim 2, wherein the formula of the three-dimensional positioning algorithm is:

wherein (x)_i，y_i) (x) is the abscissa and ordinate of the RFID reader₀，y₀)、(x₁，y₁)、(x₂，y₂)、(x₃，y₃) Respectively, the abscissa and ordinate of the four RFID tags, (x)₀，y₀) As reference points for coordinate axes, s₀、s₁、s₂And s₃Respectively the distances from the RFID card reader to the four RFID labels, D is the side length of a square, omega₁、ω₂、ω₃、ω₄The weights are respectively.

4. The positioning method for indoor environment navigation according to claim 1, further comprising, after step S3, the steps of:

s4, obtaining an indoor environment electronic map, and updating the current position of the RFID card reader to the indoor environment electronic map in real time by the mobile terminal to generate a navigation path from the current position of the RFID card reader to a destination.

5. The positioning method for indoor environment navigation according to claim 4, wherein the mobile terminal obtains the electronic map of the indoor environment in a manner of scanning a barcode on the RFID card reader or in a manner of wireless communication with the RFID card reader.

6. The positioning method for indoor environment navigation according to claim 5, wherein the barcode is a one-dimensional barcode or a two-dimensional barcode.

7. The positioning method for indoor environment navigation according to claim 5, wherein the wireless communication mode between the mobile terminal and the RFID card reader is NFC, IrDA, ZigBee, UWB, Bluetooth or wifi.

8. A positioning system for indoor environment navigation, comprising: the RFID system comprises a mobile terminal, an RFID tag and an RFID reader-writer; wherein the content of the first and second substances,

the RFID card reader and the RFID label are respectively arranged in an indoor environment, the RFID card reader moves along with a navigator in the indoor environment, and the RFID label is fixed in the indoor environment; the RFID card reader communicates with the RFID label in the moving process to obtain label data; wherein the tag data includes a distance between the RFID reader and the RFID tag and a position coordinate of the RFID tag;

the card reader comprises a positioning module and a data transmission module, wherein the positioning module is used for positioning the current position of the RFID card reader by utilizing a three-dimensional positioning algorithm according to the label data; the data transmission module is used for sending the current position of the RFID card reader to the mobile terminal.

9. The positioning system for indoor environment navigation according to claim 8, wherein the mobile terminal obtains an indoor environment electronic map in a manner of scanning a barcode on the RFID card reader or in a manner of wireless communication with the RFID card reader; and the number of the first and second groups,

the mobile terminal comprises a position updating module and a navigation path generating module, wherein the position updating module is used for updating the current position of the RFID card reader to the indoor environment electronic map in real time, and the navigation path generating module generates a navigation path to a destination according to the current position of the RFID card reader.

10. The positioning system for indoor environment navigation according to claim 8, wherein the RFID tags are arranged in an array form, and every four RFID tags form a square; and the three-dimensional positioning algorithm of the positioning module is as follows:

wherein (x)_i，y_i) (x) is the abscissa and ordinate of the RFID reader₀，y₀)、(x₁，y₁)、(x₂，y₂)、(x₃，y₃) Respectively, the abscissa and ordinate of the four RFID tags, (x)₀，y₀) As reference points for coordinate axes, s₀、s₁、s₂And s₃Respectively the distances from the RFID card reader to the four RFID labels, D is the side length of a square, omega₁、ω₂、ω₃、ω₄The weights are respectively.

Technical Field

The invention relates to the technical field of indoor navigation, in particular to a positioning method and a positioning system of indoor environment navigation based on a mobile terminal and RFID.

Background

In large indoor environments such as markets, supermarkets, hospitals and parking lots, due to the complex environment and the many exits and diversions of various channels, inconvenience is brought to people when people go out, and therefore people also need to navigate in the indoor environment.

In an indoor scene, the accuracy of the traditional navigation technologies such as Beidou and GPS is greatly reduced, and the expected effect cannot be achieved; indoor positioning technologies such as WIFI, UWB, Bluetooth, infrared, ultrasonic and RFID with more indoor researches. Each of the technologies has its limitations, and there are various problems in the accuracy of navigation and the combination of mobile terminals.

The infrared positioning system is generally composed of 2 parts of a mobile station and a base station, wherein the mobile station and the base station are provided with infrared transmitters, and the infrared positioning system is suitable for small and medium-sized rooms, and the positioning accuracy is 6m on average. The infrared ray has poor penetration force, only can provide a room-level position sensing function, is easy to be influenced by illumination or fluorescent lamps to generate a blind area, and has unsatisfactory positioning effect.

The distance measurement method adopted by the ultrasonic technology is a reflection type distance measurement method, the distance to be measured is obtained by calculating the time difference, the positioning precision can reach 3cm, the positioning precision is high, but the ultrasonic positioning technology requirement on the aspect of hardware layout is high, and the cost is high.

Bluetooth and ZigBee positioning technologies are based on short-distance low-power-consumption communication protocols, and the method for realizing the Bluetooth and ZigBee positioning technologies can be a centroid positioning method, a fingerprint positioning method and a proximity detection method, and the two methods have the advantages of low power consumption, short distance, wide application and the like, but are poor in stability, large in environmental interference and not beneficial to development in indoor complex electromagnetic environments.

Ultra-wideband (UWB) positioning technology has high positioning accuracy, but is very expensive and inconvenient for large-area deployment and application.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a positioning method and a positioning system of indoor environment navigation based on a mobile terminal and RFID, greatly reduces the cost of an indoor navigation system while ensuring the navigation positioning precision, and provides a powerful guarantee for the realization of the indoor navigation system.

The invention provides a positioning method of indoor environment navigation, which comprises the following steps:

s1, establishing the mobile terminal and the RFID card reader; the RFID card reader moves with a navigator in an indoor environment;

s2, arranging an RFID label in an indoor environment, and enabling an RFID card reader to communicate with the RFID label to obtain label data; the tag data comprises the distance between the RFID reader-writer and the RFID tag and the position coordinate of the RFID tag;

and S3, the RFID card reader positions the current position of the RFID card reader according to the label data by using a three-dimensional positioning algorithm and sends the current position to the mobile terminal.

Preferably, the RFID tags are arranged in an array, and every four RFID tags form a square.

Preferably, the formula of the three-dimensional positioning algorithm is:

wherein (x)_i，y_i) Is the abscissa and ordinate of the RFID reader, (x)₀，y₀)、(x₁，y₁)、(x₂，y₂)、(x₃，y₃) Respectively, the abscissa and ordinate of the four RFID tags, (x)₀，y₀) As reference points for coordinate axes, s₀、s₁、s₂And s₃Respectively the distances from the RFID card reader to the four RFID labels, D is the side length of the square, omega₁、ω₂、ω₂、ω₄The weights are respectively.

Preferably, after step S3, the method further includes the following steps:

s4, obtaining an indoor environment electronic map, updating the current position of the RFID card reader to the indoor environment electronic map in real time by the mobile terminal, and generating a navigation path from the current position of the RFID card reader to a destination.

Preferably, the mobile terminal acquires the electronic map of the indoor environment in a mode of scanning a bar code on the RFID card reader or in a mode of wireless communication with the RFID card reader.

Preferably, the barcode is a one-dimensional barcode or a two-dimensional barcode.

Preferably, the wireless communication mode of the mobile terminal and the RFID card reader is NFC, IrDA, ZigBee, UWB, Bluetooth or wifi.

The invention provides a positioning system for indoor environment navigation, which comprises: the RFID system comprises a mobile terminal, an RFID tag and an RFID reader-writer; the mobile terminal obtains an indoor environment electronic map in a mode of scanning a bar code on an RFID card reader or in a mode of wireless communication with the RFID card reader; the RFID card reader and the RFID label are respectively arranged in an indoor environment, the RFID card reader moves along with a navigator in the indoor environment, and the RFID label is fixed in the indoor environment; the RFID card reader communicates with the RFID label in the moving process to obtain label data; the tag data comprises the distance between the RFID reader-writer and the RFID tag and the position coordinate of the RFID tag; the card reader comprises a positioning module and a data transmission module, wherein the positioning module is used for positioning the current position of the RFID card reader by utilizing a three-dimensional positioning algorithm according to the label data; and the data transmission module is used for transmitting the current position of the RFID card reader to the mobile terminal.

Preferably, the mobile terminal acquires the electronic map of the indoor environment in a mode of scanning a bar code on the RFID card reader or in a mode of wireless communication with the RFID card reader; the mobile terminal comprises a position updating module and a navigation path generating module, the position updating module is used for updating the current position of the RFID card reader to an indoor environment electronic map in real time, and the navigation path generating module generates a navigation path to a destination according to the current position of the RFID card reader.

Preferably, the RFID tags are arranged in an array form, and every four RFID tags form a square; and the formula of the three-dimensional positioning algorithm of the positioning module is as follows:

wherein (x)_i，y_i) Is the abscissa and ordinate of the RFID reader, (x)₀，y₀)、(x₁，y₁)、(x₂，y₂)、(x₃，y₃) Respectively, the abscissa and ordinate of the four RFID tags, (x)₀，y₀) As reference points for coordinate axes, s₀、s₁、s₂And s₃Respectively the distances from the RFID card reader to the four RFID labels, D is the side length of the square, omega₁、ω₂、ω₃、ω₄The weights are respectively.

The invention can obtain the following technical effects:

1. the invention adopts the RFID label and the RFID card reader with low cost as the positioning carrier, has low power consumption and high positioning precision, can distinguish floors by utilizing the characteristic of larger wall-through attenuation, and is suitable for the problems of complexity of indoor environment, floor interval and the like.

2. The RFID card reader adopted by the invention can be integrated with a shopping cart in a shopping mall, and is easy to deploy.

3. The mobile terminal (mobile phone, tablet, etc.) adopted by the invention is a universal device, no special device is needed to be additionally arranged, the cost of the navigation system is reduced, and the navigation method is very favorable for popularization.

Drawings

FIG. 1 is a schematic diagram of a logical structure of a positioning system for indoor environment navigation according to one embodiment of the present invention;

FIG. 2 is a flow chart of a positioning method for indoor environment navigation according to one embodiment of the present invention;

FIG. 3 is a schematic diagram of the structure of an RFID network according to one embodiment of the invention;

fig. 4 is a schematic geometric relationship diagram of a three-dimensional positioning method according to an embodiment of the present invention.

Wherein the reference numerals include: the RFID system comprises a mobile terminal 1, an RFID tag 2 and an RFID reader-writer 3.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same blocks. In the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

The positioning method of indoor environment navigation provided by the invention is supported by the positioning system of indoor navigation as hardware, the positioning system is realized based on the mobile terminal and the RFID, the mobile terminal is a portable universal device, the positioning system does not need to add extra expensive equipment, the cost of the positioning system can be reduced, the navigation cost is also reduced, the RFID has the characteristics of low power consumption, high positioning precision and the like, and the non-ranging positioning is more suitable for the complexity of indoor environment.

Fig. 1 shows a logical structure of a positioning system for indoor environment navigation according to one embodiment of the present invention.

As shown in fig. 1, a positioning system for indoor environment navigation includes: a mobile terminal 1, an RFID tag 2 and an RFID reader/writer 3.

The mobile terminal 1 is an intelligent terminal such as a mobile phone, a tablet computer, a notebook computer and the like, and the mobile terminal 1 establishes wireless communication with the RFID reader-writer 3 and is used for receiving data sent by the RFID reader-writer 3. The wireless communication can be in modes of NFC, IrDA, ZigBee, UWB, Bluetooth, wifi and the like.

The RFID tags 2 are multiple RFID cards or RFID labels, the number of the RFID tags is multiple, the RFID tags are arranged at each position in an indoor environment in an array mode, and every four RFID tags 2 surround a square. Note that each RFID tag 2 is fixed in an indoor environment, that is, the position of the RFID tag 2 is fixed, and the position of the navigator is located by moving the RFID reader/writer 3.

The RFID reader/writer 3 is disposed in an indoor environment, and moves in synchronization with a navigator. The RFID reader/writer 3 may be disposed in an indoor environment by means of rental or the like. For example: similar to coin-in and car-out, equipment for returning deposit automatically rents when returning the car, or the RFID reader-writer 3 is fixed on the shopping cart and the like, and is arranged in the market. For another example: the charger is arranged in the hospital in a manner similar to the manner of sharing the charger baby.

The bar code is printed on the RFID reader-writer 3, the bar code can be a one-dimensional bar code or a two-dimensional bar code, the bar code can be linked to an indoor environment electronic map, the mobile terminal 1 downloads the indoor environment electronic map to the mobile terminal 1 through scanning the bar code, and the scanning of the bar code can be realized through the APP of the mobile terminal 1, such as WeChat, Paibao and the like.

The RFID readers 3 in different indoor environments are printed with different bar codes, and the mobile terminal 1 downloads the two-dimensional electronic maps in different indoor environments by scanning the different bar codes.

The mobile terminal 1 can also download the electronic map of the indoor environment from the RFID reader/writer 3 in a wireless communication manner. The indoor environment electronic map can be a two-dimensional electronic map or a three-dimensional electronic map carrying floor information.

The RFID reader/writer 3 can communicate with the RFID tag 2, and reads the distance between itself and the RFID tag 2 and the position coordinates of the RFID tag 2 as tag data.

The RFID reader-writer 3 comprises a positioning module and a data transmission module, the positioning module is used for positioning the current position of the RFID reader-writer 3 according to the label data by adopting a three-dimensional positioning algorithm, and the data transmission module is used for transmitting the current position of the RFID reader-writer to the mobile terminal 1.

After receiving the current position of the RFID reader/writer 3, the mobile terminal server 1 updates the current position to the electronic map of the indoor environment in real time. The current position of the RFID reader-writer 3 is updated in real time on the indoor environment electronic map, so that the RFID reader-writer 3 is positioned in real time.

Because the RFID reader-writer 3 moves synchronously with the navigator, the current position of the positioning RFID label 2 is the current position of the positioning navigator.

In a specific embodiment of the present invention, the mobile terminal 1 includes a location updating module and a navigation path generating module, the location updating module is configured to receive the current location of the RFID card reader 3 sent by the data transmission module, and update the current location of the RFID card reader 3 to an indoor environment electronic map in real time, and the navigation path generating module generates a navigation path to a destination according to the current location of the RFID card reader 3. The navigator can reach the target position according to the navigation path generated by the mobile terminal 1.

The above details describe the logical structure of the positioning system for indoor environment navigation, and the present invention further provides a positioning method for indoor environment navigation using the positioning system, corresponding to the positioning system.

Fig. 2 shows a flow of a positioning method of indoor environment navigation according to an embodiment of the present invention.

As shown in fig. 2, the positioning method for indoor environment navigation provided by the embodiment of the present invention includes the following steps:

s1, establishing the mobile terminal and the RFID card reader; wherein the RFID reader moves with the navigator in an indoor environment.

The mobile terminal scans the bar code on the RFID card reader or wirelessly communicates with the RFID card reader,

the indoor environment electronic map is provided by an indoor environment, and the indoor environment electronic map is a two-dimensional electronic map or a three-dimensional electronic map with floor information.

The bar code can be a one-dimensional bar code or a two-dimensional bar code, and the mobile terminal downloads the electronic map of the indoor environment in a bar code scanning mode.

The wireless communication mode of the mobile terminal and the RFID card reader is NFC, IrDA, ZigBee, UWB, Bluetooth, wifi and the like.

And the mobile terminal is communicated with the RFID card reader and downloads the indoor environment electronic map from the RFID card reader.

Because the RFID card reader moves along with the navigator in an indoor environment, the current position of the navigator can be obtained by positioning the RFID card reader.

S2, arranging an RFID label in an indoor environment, and enabling an RFID card reader to communicate with the RFID label to obtain label data; the tag data includes a distance between the RFID reader and the RFID tag and a position coordinate of the RFID tag.

The number of the RFID tags is multiple, and the RFID tags are arranged at various positions in an indoor environment in an array form to form an RFID network.

Fig. 3 shows the structure of an RFID network according to an embodiment of the invention.

As shown in fig. 3, the open circles represent RFID tags, the solid regular hexagons represent RFID readers, every four RFID tags form a square, and all the RFID tags form an RFID network.

The position coordinates of the RFID tag are obtained to calculate the side length of the square, so that preparation is made for subsequently positioning the position of the RFID card reader.

And S3, the RFID card reader positions the current position of the RFID card reader according to the label data by using a three-dimensional positioning algorithm and sends the current position to the mobile terminal.

When the RFID card reader enters an RFID network, the RFID card reader activates the RFID label through electromagnetic waves and communicates with the RFID label, so that label data are obtained.

The tag data comprises the self coordinate position of the RFID reader-writer, the distance between the RFID reader-writer and the RFID tag and the self coordinate position of the RFID tag.

The three-dimensional positioning algorithm uses four RFID labels when calculating the current position of the RFID reader-writer, and the four RFID labels surround a square.

Fig. 4 shows the geometrical relations of the three-dimensional localization method according to an embodiment of the present invention.

As shown in FIG. 4, the coordinates of the four RFID tags arep₀(x₀，y₀)、p₁(x₁，y₁)、p₂(x₂，y₂)、p₃(x₃，y₃)，(x₀，y₀) Is p₀Abscissa and ordinate of (x)₁，y₁) Is p₁Abscissa and ordinate of (x)₂，y₂)p₂The abscissa and the ordinate of (a) are (x)₃，y₃) Is p₃The side length of a square formed by the four RFID labels is D, and the coordinate of the RFID reader-writer is p_i(x_i，y_i) Distance p of RFID reader₀Is a distance s₀Distance p of RFID reader₁Is a distance s₁Distance p of RFID reader₂Is a distance s₂Distance p of RFID reader₃Is a distance s₀Distance p of RFID reader₀Is a distance s₃。

From the geometric relationship, one can obtain:

according to formulae (1) to (3), by p₀，p₁，p₂Three RFID tags and s₀、s₁、s₂The coordinate of the RFID reader-writer can be deduced to be p_i(x_i，y_i)：

In a similar manner, by p₀，p₂，p₃Three points and s₀，s₂，s₃The coordinates p of the RFID card reader can be deduced_i(x_i，y_i) Comprises the following steps:

in a similar manner, by p₁，p₂，p₃Three points and s₁，s₂，s₃The coordinates p of the RFID card reader can be deduced_i(x_i，y_i) Comprises the following steps:

similarly, the three points of p0, p2 and p3 and s₀，s₂，s₃The coordinates p of the RFID card reader can be deduced_i(x_i，y_i) Comprises the following steps:

to remove the error caused by unstable range finding, the four x values can be used_i、y_iThe calculated values of (A) are weighted and averaged, and the weights are respectively omega₁，ω₂，ω₃，ω₄Obtaining p_iRelative to p₀The relative coordinates of (a) are:

the absolute coordinates are:

if the weight value ω is₁，ω₂，ω₃，ω₄All 1, the absolute position coordinates of the RFID card reader can be obtained as follows:

in another embodiment of the present invention, after step S3, the method further includes the following steps:

s4, acquiring an indoor environment electronic map, updating the current position of the RFID card reader to the indoor environment electronic map in real time by the mobile terminal, and generating a navigation path from the current position of the RFID card reader to a destination.

The mobile terminal acquires the indoor environment electronic map from the RFID card reader, and the acquisition mode can be that the indoor environment electronic map is downloaded from the RFID card reader or a bar code attached to the RFID card reader is scanned and linked to the indoor environment electronic map.

The current position of the RFID card reader is positioned in real time, and the current position is updated to an indoor environment electronic map in real time, so that a navigation path to a destination is planned and displayed in the indoor environment electronic map, and indoor navigation is realized.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.