文章摘要
朱军,王文举,陈敬良,方程,张安淇.基于蓝牙和计步器的融合定位算法[J].包装工程,2018,39(5):77-81.
ZHU Jun,WANG Wen-ju,CHEN Jing-liang,FANG Cheng,ZHANG An-qi.Fusion Location Algorithm Based on Blue-tooth and Pedometer[J].Packaging Engineering,2018,39(5):77-81.
基于蓝牙和计步器的融合定位算法
Fusion Location Algorithm Based on Blue-tooth and Pedometer
投稿时间:2017-08-02  修订日期:2018-03-10
DOI:10.19554/j.cnki.1001-3563.2018.05.015
中文关键词: 智能物流  室内定位  蓝牙  计步器  卡尔曼滤波
英文关键词: intelligent logistics  indoor location  blue-tooth  pedometer  Kalman filtering
基金项目:上海市属高校应用型本科试点专业建设项目(10-16-309-001);上海理工大学、上海市“大学生创新创业训练计划”(XJ2017238,SH2017163)
作者单位
朱军 上海理工大学上海 200093 
王文举 上海理工大学上海 200093 
陈敬良 上海理工大学上海 200093 
方程 上海理工大学上海 200093 
张安淇 复旦大学上海 200433 
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中文摘要:
      目的 在智能物流系统中实现内场货物分拣、包装、装卸操作环节的员工监管、智能巡检等功能。方法 提出一种基于蓝牙和计步器的融合室内人员定位方法:获取当前指纹数据与计步器数据并进行算法参数初始化;估算计步器比例尺和方向,以此计算指纹定位的方差值,从而完成定位坐标初始预测;利用卡尔曼滤波计算卡尔曼增益,纠正dx, dy方向;依据dx, dy调整定位坐标预测值作为最终定位位置坐标数据,完成室内定位。结果 该算法将蓝牙指纹和计步器等2种数据融合,定位路线轨迹比较光滑,未出现定位跳动及偏移现象。结论 该方法可在内场环境中实现高精度人员定位,并进行活动轨迹分析,实现人员监管与高效快捷巡检,从而优化运输包装的作业流程,提高了物流包装系统的智能化运行管理水平。
英文摘要:
      The work aims to to realize the functions of staff supervision and intelligent inspection for the sorting, packaging, loading and unloading operations of the infield goods in the intelligent logistics system. A fusion indoor personnel localization method based on blue-tooth and pedometer was proposed. The current fingerprint data and pedometer data were got and the algorithm parameters were initialized. Initial prediction of positioning coordinate was finished by estimation of the pedometer scale and direction for the calculation of the variance value of the fingerprint locations. The Kalman gain was calculated with the Kalman filtering to correct the dx and dy directions. According to dx and dy, the prediction value of the positioning coordinate was adjusted as the final location coordinate data to complete the indoor positioning. Integrated with two kinds of data (the blue-tooth fingerprint and pedometer), the location route of the proposed algorithm was quite smooth without location run-out and offset. The method can realize the high-precision personnel locating in the infield environment, and analyze the moving tracks, so as to achieve the staff supervision and efficient and convenient inspection, thus optimizing the operation flow of the transportation packaging and improving the operation and management level of logistics packaging system.
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