Positioning device and management system based on broadcast payload coding and multi-dimensional correction

Abstract

The present invention relates to a positioning device and management system based on broadcast payload coding and multi-dimensional correction, wherein the positioning device comprises: a sending device, installed on an object to be positioned, for sending a data broadcast radio frequency signal and its own inertial positioning data; a receiving device, connected to the sending device in communication, for solving the data broadcast radio frequency signal to obtain arrival angle data, and receiving the inertial positioning data of the sending device; a data platform, connected to the receiving device, for performing multi-dimensional correction on the arrival angle data according to its own inertial positioning data, and obtaining the positioning information of the object to be positioned in the scene. Compared with the prior art, the present invention has the advantages of enhancing the real-time, accuracy and anti-interference capability of positioning information.

Description

Technical Field

[0001] The present invention relates to a personnel asset management system, and in particular to a positioning device and management system based on broadcast payload coding and multi-dimensional correction. Background Art

[0002] In recent years, the demand for accurate positioning has been increasing. Although GPS can achieve good positioning accuracy, the GPS signal attenuation is large in indoor environments and cannot be accurately positioned. In addition, GPS is also easily affected by external factors such as weather outdoors. Therefore, other technical solutions need to be used to replace GPS in situations where GPS cannot be positioned, such as indoor accurate positioning.

[0003] In many scenarios such as industrial manufacturing, logistics warehousing, and corporate personnel management, obtaining real-time and accurate location information of personnel and materials is also an important requirement in corporate management and business management. In relatively closed spaces such as warehouses, offices, and exhibition venues, for specific personnel and materials carrying wireless IoT tags, real-time positioning, acquisition, collection, and processing of relevant data are of great value for overall management, coordination of resources, and disaster prevention and mitigation. However, how to achieve centimeter-level accuracy is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a positioning device and management system based on broadcast payload coding and multi-dimensional correction that can enhance the real-time, accuracy and anti-interference capability of positioning information.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A positioning device based on broadcast payload coding and multi-dimensional correction, comprising:

[0007] The transmitting device is installed on the object to be positioned and is used to send data broadcast radio frequency signals and its own inertial positioning data;

[0008] A receiving device, connected to the transmitting device for communication, for calculating the data broadcast radio frequency signal to obtain arrival angle data, and receiving the inertial positioning data of the transmitting device itself;

[0009] A data platform is connected to the receiving device and is used to perform multi-dimensional correction on the arrival angle data according to its own inertial positioning data to obtain positioning information of the object to be positioned in the scene.

[0010] Furthermore, the sending device is a wireless broadcast tag.

[0011] Furthermore, the receiving device includes an antenna array, an RF chip, an FPGA chip and a transmission chip. Each antenna in the antenna array is individually connected to an RF chip, and each RF chip is connected to an FPGA chip in parallel. The FPGA chip is connected to a data platform through a transmission chip, and the FPGA chip realizes the solution of the arrival angle data.

[0012] Furthermore, the calculation formula for calculating the arrival angle by the FPGA chip is:

[0013]

[0014] Wherein, λ is the wavelength of the data broadcast radio frequency signal at the antenna array, is the phase difference of the signal received by each RF radio chip, and θ is the arrival angle.

[0015] Furthermore, the transmission chip includes an Ethernet chip, a serial port chip and / or a wireless chip.

[0016] Furthermore, the multi-dimensional correction specifically includes:

[0017] Clean the received data;

[0018] Based on the arrival angle data and the angular position configuration information of the corresponding receiving device, a relative angle of a timestamp of the sending device relative to the receiving device in a specific rectangular coordinate system is obtained to obtain preliminary coordinates of the sending device;

[0019] Obtaining the acceleration of the corresponding sending device at the same timestamp based on the self-inertial positioning data;

[0020] The final coordinates and trajectory segments of the sending device are obtained based on the preliminary coordinates and acceleration of the sending device.

[0021] Furthermore, the data cleaning includes deleting abnormal data, and the abnormal data includes duplicate data, data with missing fields in the communication, or data outside a threshold range.

[0022] Furthermore, the multi-dimensional correction also includes:

[0023] Based on historical data, geographic information and time, the final coordinates and trajectory segments obtained are error processed and marked with confidence weights. Based on the points with weights higher than the set threshold, weight offset and data modeling simulation are used to form accurately positioned itinerary segments.

[0024] Furthermore, the error processing is implemented based on an error elimination reference value, and the error elimination reference value includes a short-time travel distance obtained by quadratic integration of acceleration, an instantaneous uniform motion speed calculable at two recent timestamps, a short-time travel distance calculable by speed and acceleration, and multiple sets of positioning results within similar timestamps.

[0025] The present invention also provides a personnel asset management system, including a positioning device based on broadcast payload encoding and multi-dimensional correction as described above, wherein the objects to be located include personnel and / or assets, and the data platform includes a statistical analysis module, which implements statistical analysis and display of real-time data of personnel and / or assets based on the positioning information of the objects to be located in the scene.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention realizes preliminary positioning by calculating the angle of arrival based on wireless radio frequency, which is convenient for positioning and low in cost.

[0028] 2. The present invention introduces data of multiple dimensions on the basis of wireless RF arrival angle positioning. By expanding the wireless broadcast data packet and adding the inertial positioning related data of the sending device itself, and cooperating with the matching correction algorithm, the arrival angle positioning result can be effectively corrected to achieve centimeter-level precise positioning, thereby enhancing the real-time, accuracy and anti-interference ability of the positioning information, so that the management of personnel and assets in complex scenarios can be effectively carried out.

[0029] 3. With the help of message queues and deep learning, the data platform of the present invention can process the data sent by the receiving device and the sending device through its positioning algorithm. Through the steps of sorting and cleaning of time series data, data classification, data association combination, correction of deviation values ​​and exclusion of outliers, it can effectively calculate the offset and exclude abnormal data for interference items such as interferers and communication signals, and can calculate and display the real-time location information of the sending device with centimeter-level accuracy.

[0030] 4. The present invention can realize real-time accurate positioning, data collection, data display and data analysis of specific assets and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a receiving device in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the data processing flow of a data center in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of calculating the preliminary coordinates of a sending device in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of data classification and collection in an embodiment of the present invention;

[0036] Figure 6 This is a flowchart of error processing in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the confidence weight in an embodiment of the present invention;

[0038] Figure 8 Schematic diagram of a precise positioning trip segment obtained in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0040] Example 1

[0041] refer to Figure 1 As shown, this embodiment provides a positioning device based on broadcast payload encoding and multi-dimensional correction, including a sending device 1, a receiving device 2 and a data platform 3, wherein the sending device 1 is installed on the object to be positioned, and is used to send a data broadcast radio frequency signal and its own inertial positioning data; the receiving device 2 is communicatively connected to the sending device 1, and is used to solve the data broadcast radio frequency signal to obtain arrival angle data, and receive the inertial positioning data of the sending device 1; the data platform 3 is connected to the receiving device 2, and is used to perform multi-dimensional correction on the arrival angle data according to its own inertial positioning data, so as to obtain the positioning information of the object to be positioned in the scene.

[0042] In this embodiment, the sending device 1 is a small wireless broadcasting device that needs to be carried by a person or an object, which can be a wireless broadcasting tag; the receiving device 2 is a base station, and multiple base stations are deployed in the scene; the data platform 3 can also be connected to the cloud server 4.

[0043] The antenna in the wireless broadcast base station has a vector difference when receiving the RF signal of the wireless broadcast packet, so the I / Q vector phase difference extracted by the base station from the data broadcast RF signal of the transmitting device can be calculated according to the following formula:

[0044] When I>0, angle=arctan(Q / I),

[0045] When I<0 and Q>=0, angle=180+arctan(Q / I),

[0046] When I<0 and Q<0, angle=-180+arctan(Q / I),

[0047] The angle between the antenna of the broadcast receiving device and the transmitting device in a specific plane is calculated. Multiple groups (greater than or equal to 2 groups) of antennas can obtain the relative position between the devices based on the offset difference of their positions and the calculated angle, thereby achieving a positioning effect.

[0048] The receiving device 2 is an angle-solving receiver based on broadcast payload coding. Figure 2 As shown, in this embodiment, the receiving device 2 includes an antenna array, an RF chip, an FPGA chip and a transmission chip. Each antenna in the antenna array is individually connected to an RF chip, and each RF chip is connected to the FPGA chip in parallel. The FPGA chip is connected to the data platform through the transmission chip, and the FPGA chip realizes the solution of the arrival angle data, wherein the transmission chip includes an Ethernet chip, a serial port chip and / or a wireless chip.

[0049] In this embodiment, the antenna array is a parallel antenna array, and each antenna is equipped with a separate RF chip, which can significantly reduce the time error introduced by switching when the switch is working compared to the traditional RF radio frequency switch. Each RF radio frequency chip is connected to the FPGA chip in parallel, and the excellent parallel computing capability of FPGA is used to solve the two sets of wave arrival angles measured by the antenna array.

[0050] The specific process of receiving device 2 to calculate the arrival angle includes: the sending device broadcasts the positioning code packet, the wave plane is approximately a parallel wave plane at the antenna array, and the wavelength is λ. The RF radio frequency chip processes the receiving information of each antenna, and the FPGA chip reads the data in parallel to calculate the phase difference. The angle of arrival θ is calculated by the following formula:

[0051]

[0052] Where λ is the wavelength of the data broadcast RF signal at the antenna array, is the phase difference of the signal received by each RF radio chip, and θ is the arrival angle.

[0053] The calculated arrival angle information can be transmitted through an Ethernet interface, a serial port or a wireless network. The Ethernet interface is used in situations where the system has high real-time performance, and the serial port is used in situations where it is flexible to access embedded devices other than switches.

[0054] Data platform 3 obtains the data sent by the angle solution receiver through Ethernet or serial port protocol, and after time series data analysis, calls the positioning algorithm and position correction model algorithm to accurately locate the sending device. The specific steps are as follows: Figure 3 shown.

[0055] 1. Data cleaning: The data platform will first filter the received real-time data, ignore and delete abnormal data, such as duplicate data, data with missing fields in communication, and data outside the threshold range, to clean the initial data. This step will reduce unnecessary loads when subsequent programs are running, and reduce the adverse effects of redundant data on subsequent calculations and analysis.

[0056] 2. Calculate location information:

[0057] a. For the arrival angle data, the data platform will combine the received angle information data with its own angle and position configuration, and calculate the data to obtain the relative angle of the sending device at the current time relative to the receiver in a specific rectangular coordinate system;

[0058] b. For the inertial positioning data recorded by the sending device, the data platform will calculate and record the operating status of the sending device according to the timestamp. The valid data obtained (the position coordinates at the time point corresponding to the timestamp in the preset two-dimensional or three-dimensional coordinate system) will be placed in the subsequent operation queue for further processing.

[0059] Specifically, the angle calculation receiver uses at least two sets of θ angle information at the same timestamp, and the horizontal placement angle of the antenna array will preset the origin and xy axis of the rectangular coordinate system. The preliminary coordinates can be obtained by performing formula calculation based on the antenna spacing d preset by the antenna array and the two sets of θ angle information (θ1 and θ2), such as Figure 4 As shown, the specific formula is expressed as:

[0060] When θ>0 and θ<90, x=cosθ1d / (cosθ1-cosθ2), y=xtanθ1

[0061] The acceleration a of the corresponding transmitter at the timestamp can be obtained from the inertial positioning data.

[0062] The data platform integrates the coordinate and acceleration data and pushes them to the next step. The data structure is roughly as shown in Table 1.

[0063] Table 1 Data structure

[0064] Parameter name Parameter data format Parameter meaning timestamp String Timestamp tagid String Transmitter number coordinate String(x,y) coordinate a Double <![CDATA[Acceleration (m / s 2 )]]>

[0065] 3. Classification and collection: The data platform will place the calculated relative position and motion status data into a queue (classification queue). The queue will sort the sending device, timestamp, receiving device configuration, and data sent by the sending device in segments according to the timing and the unique code of the sending device, such as Figure 5 As shown, the angle and motion state data in the time series data are recalculated to obtain the coordinates and trajectory fragments of the sending device.

[0066] 4. Error processing: The data in the error processing queue is the data that has been classified and calculated as coordinates and trajectories. In this step, the data platform will apply the error processing algorithm to judge historical data, geographic information, time and other data. Data with large deviations or jitters will be marked in this step and set as data with low confidence. The data will be weighted according to the confidence and reflected in the positioning result modeling. Specifically, based on historical data, geographic information and time, the data platform performs error processing and confidence weight marking on the final coordinates and trajectory fragments obtained, and based on the points with weights higher than the set threshold, forms a precise positioning journey fragment through weight offset and data modeling simulation.

[0067] Among them, the error exclusion reference values ​​include:

[0068] A. Short-time travel distance obtained by quadratic integration of acceleration;

[0069] B. The instantaneous uniform motion speed that can be calculated at the last two timestamps;

[0070] C. Distance traveled in a short time for which speed and acceleration can be calculated;

[0071] D. Positioning results of multiple antenna groups within similar timestamps (where the positioning data of the proximal base station has a higher weight).

[0072] like Figure 6 As shown, the error processing algorithm process includes: sorting recent data by timestamp, and obtaining the acceptable error range of the travel distance in a short time by quadratic integration of the acceleration data. If it exceeds, the error is corrected. If it does not exceed, the speed in a short time is calculated by v=s / t based on the distances of the two most recent coordinate points, and the acceptable error range of the travel distance in a short time is obtained by further using the speed and acceleration data. If it exceeds, the error is corrected.

[0073] Through the above multi-dimensional error processing reference values, the platform will perform error correction and obtain data with higher credibility, such as Figure 7 shown.

[0074] After obtaining data with high confidence, the data platform will use data modeling to plot all data according to the confidence weight. The weight distribution is generally 0 to 1. The model curve will shift in direct proportion to the points with higher weights, and finally synthesize the scattered data into a smooth curve, such as Figure 8 As shown, a more accurate positioning itinerary segment is obtained. Among them, data modeling and weight offset are continuously optimized by AI deep learning through historical data, thereby further improving the anti-interference ability of the final data.

[0075] 5. Calculate trajectory and position: After the data is calculated by the algorithm and error processed, the time-series coordinates and trajectory fragments of the sending device will be recorded in the database. In this process, the platform will calculate and splice the coordinates and trajectories, combine the coordinate systems corresponding to multiple base stations in the scene into the large coordinate system corresponding to the scene, and draw the positioning information in real time in the user interaction interface.

[0076] 6. Statistical analysis: The data platform also has real-time processing programs and batch processing programs for data processing. The real-time processing program will respond to or alarm the threshold set by the user immediately. Once data that needs to be responded to appears, the program will be synchronized to the cloud and respond to the processing work immediately. The batch processing program will perform subsequent processing on all data in the database, including screening, statistics, etc., and historical data can be used in subsequent work, or the error algorithm can be optimized and corrected by marking abnormal data.

[0077] Example 2

[0078] refer to Figure 1 As shown, this embodiment provides a personnel asset management system, including a positioning device based on broadcast payload encoding and multi-dimensional correction as in Embodiment 1, the objects to be positioned include personnel and / or assets, and the assets and personnel carry or wear a transmitting device, receive radio frequency signals through multiple sets of receiving devices, and calculate the arrival angle information, and then transmit the data to the data platform through an Ethernet network (or wireless network, serial port) via a routing device, and the data platform will synchronize the positioning data to the cloud server 4 as required. The data platform includes a statistical analysis module, which realizes statistical analysis and display of real-time data of personnel and / or assets based on the positioning information of the object to be positioned in the scene, thereby realizing personnel asset management.

[0079] The main steps for deployment and application of the personnel asset management system in this embodiment are as follows:

[0080] 1. Deploy the base station (angle resolution receiver) equipment in partitions on the ceiling of the building at a fixed height and provide power to these devices.

[0081] 2. Connect the base station to the routing device (wired or wireless).

[0082] 3. The central control computer host (or server) of the data platform is powered on and connected to the routing device via Ethernet or wireless network.

[0083] 4. Start the receiver, routing device, and central control host, and wait for the system to connect to the Internet and complete the automatic configuration.

[0084] 5. Personnel and assets need to carry or be equipped with low-power broadcast transmission equipment.

[0085] 6. Add the broadcast sending device information of the personnel asset.

[0086] 7. View personnel asset management data.

[0087] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A positioning device based on broadcast payload encoding and multi-dimensional correction, characterized in that: include: The transmitting device is installed on the object to be positioned and is used to send data broadcast radio frequency signals and its own inertial positioning data; A receiving device, connected to the transmitting device for communication, for calculating the data broadcast radio frequency signal to obtain the arrival angle data, and receiving the inertial positioning data of the transmitting device itself; A data platform, connected to the receiving device, for performing multi-dimensional correction on the arrival angle data according to the inertial positioning data thereof, so as to obtain positioning information of the object to be positioned in the scene; The multi-dimensional correction specifically includes: Clean the received data; Based on the arrival angle data and the angular position configuration information of the corresponding receiving device, a relative angle of a timestamp of the sending device relative to the receiving device in a specific rectangular coordinate system is obtained to obtain preliminary coordinates of the sending device; Obtaining the acceleration of the corresponding sending device at the same timestamp based on the self-inertial positioning data; Obtaining final coordinates and trajectory segments of a sending device based on preliminary coordinates and acceleration of the sending device; Based on historical data, geographic information and time, the final coordinates and trajectory segments obtained are processed for errors and marked with confidence weights. Based on the points with weights higher than the set threshold, accurate positioning itinerary segments are formed through weight offset and data modeling simulation; The error processing is implemented based on an error elimination reference value, which includes a short-time travel distance obtained by quadratic integration of acceleration, an instantaneous uniform motion speed that can be calculated under two recent timestamps, a short-time travel distance that can be calculated by speed and acceleration, and multiple groups of positioning results within similar timestamps; The receiving device includes an antenna array, an RF chip, an FPGA chip and a transmission chip. Each antenna in the antenna array is individually connected to an RF chip, and each RF chip is connected to the FPGA chip in parallel. The FPGA chip is connected to the data platform through the transmission chip. The FPGA chip realizes the calculation of the arrival angle data. The antenna array is a parallel antenna array. Each antenna is configured with a separate RF chip, and each RF chip is connected to the FPGA chip in parallel. The calculation formula for calculating the arrival angle by the FPGA chip is: ， in, is the wavelength of the data broadcast radio frequency signal at the antenna array, The phase difference of the signal received by each RF chip, is the angle of arrival, d is the antenna spacing.

2. The positioning device based on broadcast payload encoding and multi-dimensional correction according to claim 1, characterized in that: The sending device is a wireless broadcast tag.

3. The positioning device based on broadcast payload encoding and multi-dimensional correction according to claim 1, characterized in that: The transmission chip includes an Ethernet chip, a serial port chip and / or a wireless chip.

4. The positioning device based on broadcast payload encoding and multi-dimensional correction according to claim 1, characterized in that: The data cleaning includes deleting abnormal data, and the abnormal data includes duplicate data, data with missing fields in the communication, or data outside a threshold range.

5. A personnel asset management system, characterized in that: It comprises a positioning device based on broadcast payload encoding and multi-dimensional correction as described in any one of claims 1 to 4, the objects to be positioned comprise personnel and / or assets, and the data platform comprises a statistical analysis module, which implements statistical analysis and display of real-time data of personnel and / or assets based on the positioning information of the objects to be positioned in the scene.

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