Improved indoor positioning method integrating ultra wide band and Bluetooth based on NB-IoT

Abstract

The invention relates to an improved ultra-wideband and Bluetooth integrated indoor positioning method based on NB-IoT. The method comprises the following steps: S1, carrying out ultra-wideband ranging positioning based on acquired signals and data of an ultra-wideband base station; S2, based on the collected signals and data of the Bluetooth beacons, carrying out distance measurement and positioning of Bluetooth; S3, taking the distance measurement distances from the positioning label to the ultra-wideband base station and from the positioning label to the Bluetooth beacon as input excitationof a Kalman algorithm, and calculating an initial position of a positioning coordinate by using a trilateral positioning algorithm and the first input excitation, and continuously predicting and updating the positioning coordinates according to a continuous input extended Kalman algorithm of subsequent excitation. The invention aims to provide an improved indoor positioning method integrating anultra wide band and Bluetooth based on NB-IoT. The method has the advantages that finally, centimeter-level accurate positioning is achieved on the whole, and positioning services of different scenescan be dealt with.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to an improved indoor positioning method based on NB-IoT that integrates ultra-wideband and Bluetooth. Background technique [0002] In recent years, with the rapid development of the Internet of Things and big data, the indoor positioning system based on location services has a good development and innovation in the fields of factories, hospitals, homes and security. Since the 20th century, when dealing with outdoor environment positioning, we have been widely used with the four major positioning systems of Global Positioning System (GPS), Beidou Positioning System (BD), Galileo Positioning System and Russia GLONASS In military, industrial and agricultural production, smart city, smart transportation and other fields. However, the signal propagation between the global coverage satellite and the positioning target is LOS (Non Line of Sight) propagation, and a large number of high-...

AI Technical Summary

Problems solved by technology

However, the positioning method has not been optimized, and the cost of using base stations is high, and the accuracy is applicable to a single scenario

[0007] In the current positioning technology, the positioning accuracy of Bluetooth, zigbee, wifi and other technologies is only meter-level accuracy, the degree of optimization is not high, and most of the accuracy is about 2 meters

The UWB ultra-wideband positioning system is relatively single, and the layout of UWB base stations is relatively expensive, and the cost is relatively high in large factories.

Moreover, most of the devices cannot transmit data to the system in real time.

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