WO2018145289A1

WO2018145289A1 - Positioning method and apparatus based on bluetooth ble

Info

Publication number: WO2018145289A1
Application number: PCT/CN2017/073192
Authority: WO
Inventors: 陈法海; 赵所峰
Original assignee: 深圳市汇顶科技股份有限公司
Priority date: 2017-02-09
Filing date: 2017-02-09
Publication date: 2018-08-16
Also published as: CN107079257A

Abstract

The present invention relates to the field of wireless communication, and discloses a positioning method and apparatus based on Bluetooth BLE. In the present invention, the positioning method based on Bluetooth BLE is used in a terminal device, and comprises: scanning for a BLE slave device; after finding a target BLE slave device, in at least two positions sequentially acquiring the position Si in which the terminal device is currently located and the distance Ri between the terminal device and the target BLE slave device; and, on the basis of the acquired Si and Ri, calculating the position of the target BLE slave device. Also disclosed in the present invention is a positioning apparatus based on Bluetooth BLE. Compared to the prior art, the present invention enables convenient discovery of the position of a target BLE slave device, greatly reducing the time for searching for a target BLE slave device. Positioning of a target BLE slave device can be implemented without the need to deploy an iBeacon or Bluetooth AP indoors, and there is also no need for complex data processing architecture, thus reducing hardware costs.

Description

Bluetooth BLE based positioning method and device

Technical field

The present invention relates to the field of wireless communications, and in particular, to a Bluetooth BLE-based positioning method and apparatus.

Background technique

At present, short-range wireless communication technology has been widely used in many electronic devices, such as smart phones, wristbands, wearable devices, sensors, and the like. These electronic devices support positioning technology. Positioning refers to the realization of positional positioning in an indoor environment, which mainly adopts an indoor position positioning system formed by integration of various technologies such as wireless communication, base station positioning, and inertial navigation positioning. In addition to the cellular positioning technology of communication networks, common indoor wireless positioning technologies include: wireless local area network (Wi-Fi), Bluetooth, infrared, ultra-wideband, radio frequency identification (RFID), Zifeng (ZigBee) and ultrasound.

The positioning methods in the prior art are mostly based on mobile devices, and the positioning system consists of a Bluetooth AP and a server. The positioning is performed by the mobile device repeatedly communicating the broadcast information through the Bluetooth AP to communicate with the server, and calculating by the server. After that, an invention of the current location information of the mobile device is obtained and sent to the mobile device. Or, based on the iBeacon Bluetooth positioning system, the positioning system comprises an iBeacon information distribution system, an iBeacon base station and a mobile terminal, wherein the information distribution system is composed of a background management system, a service authentication interface, and a radio frequency antenna; the base station is composed of a data storage module and a Bluetooth radio frequency. Antenna composition; the mobile terminal is composed of a data processing module, a Bluetooth transceiver module, a wireless transceiver module, a Bluetooth RF receiving antenna, and a wireless RF transceiver antenna.

The above prior art has many disadvantages: 1. The Bluetooth transmission communication network is complicated to construct, and many Bluetooth APs are deployed, which is inconvenient to maintain and has high hardware cost. 2, need a special server to process the data sent by the Bluetooth AP, there will be data network delay and data bandwidth problems, also increased the system Cost. 3. The local positioning device used in the invention is solidified and not flexible enough, so it is impossible to upgrade and modify various positioning methods. 4. The positioning mentioned in the invention is to locate the location of the mobile terminal, and it is not possible to locate the position of the iBeacon or the Bluetooth AP, and thus, when searching for an object, the lost or hidden object cannot be located.

Summary of the invention

An object of the present invention is to provide a Bluetooth BLE-based positioning method and apparatus, which can conveniently locate a target BLE slave device, and greatly shorten the time for finding a target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.

To solve the above technical problem, the embodiment of the present invention provides a Bluetooth BLE-based positioning method, which is applied to a terminal device. The Bluetooth BLE-based positioning method includes: scanning a BLE slave device; after the scan finds the target BLE slave device, Locating at least two locations of the terminal device, obtaining a location Si where the terminal device itself is located, and a distance Ri between the terminal device and the target BLE slave device; calculating a location of the target BLE slave device according to the acquired Si and Ri .

The embodiment of the present invention further provides a Bluetooth BLE-based positioning device, which is applied to a terminal device. The Bluetooth BLE-based positioning device includes: a scanning module, an acquiring module, and a computing module; and a scanning module, configured to scan the BLE slave device; a module, after the scanning module scans to find the target BLE slave device, in turn, the terminal device is located in at least two locations, obtaining the location Si where the terminal device itself is located, and the distance Ri between the terminal device and the target BLE slave device; And a calculation module, configured to calculate a location of the target BLE slave device according to the acquired Si and Ri.

Compared with the prior art, the embodiment of the present invention acquires the location Si where the terminal device itself is located and the distance Ri between the terminal device and the target BLE slave device by controlling the terminal device in at least two locations. And calculating the position of the target BLE slave device according to the obtained Si and Ri. This makes it easy to locate the target BLE slave device, greatly reducing the time to find the target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a flowchart of a Bluetooth BLE-based positioning method according to a first embodiment of the present invention;

2 is a flowchart of a Bluetooth BLE-based positioning method according to a second embodiment of the present invention;

3 is a flowchart of a Bluetooth BLE-based positioning method according to a third embodiment of the present invention;

4 is a schematic diagram of a target BLE slave device acquired by a terminal device in different locations according to a third embodiment of the present invention;

5 is another schematic diagram of a target BLE slave device that is acquired when a terminal device is in a different location according to a third embodiment of the present invention;

6 is a flowchart of a Bluetooth BLE-based positioning method according to a fourth embodiment of the present invention;

7 is a flowchart of a Bluetooth BLE-based positioning method according to a fifth embodiment of the present invention;

FIG. 8 is a block diagram of a Bluetooth BLE-based positioning apparatus according to a sixth embodiment of the present invention; FIG.

9 is a block diagram of a Bluetooth BLE-based positioning apparatus in accordance with a seventh embodiment of the present invention;

Figure 10 is a block diagram of a Bluetooth BLE based positioning apparatus in accordance with an eighth embodiment of the present invention;

11 is a block diagram of a Bluetooth BLE-based positioning device in accordance with a ninth embodiment of the present invention. Figure

Figure 12 is a block diagram of a Bluetooth BLE based positioning apparatus in accordance with a tenth embodiment of the present invention.

detailed description

In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail below. However, it will be apparent to those skilled in the art that, in the various embodiments of the present invention, numerous technical details are set forth in order to provide the reader with a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

A first embodiment of the present invention relates to a Bluetooth BLE-based positioning method applied to a terminal device. The specific process is shown in Figure 1, which includes:

Step 101: Turn on the low-power Bluetooth BLE switch of the terminal device to scan the BLE slave device.

It is worth mentioning that the BLE slave device can be a smart device with communication function. For example, the BLE slave device can be, but is not limited to, an active pen. Also, Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.

Specifically, the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device. When the terminal device searches for a BLE slave device, the search results are listed in the form of a list. Moreover, the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.

In step 102, it is determined whether the target BLE slave device is found. If yes, go to step 103; otherwise, go back to step 101.

Specifically, the user can follow the BLE slave device name or MAC address from the scan list. Find the target BLE slave device you need to find. Click on the virtual button used to find the target BLE slave device. When receiving the seek instruction for the target BLE slave device, the terminal device may determine to scan to the target BLE slave device.

It should be noted that in the actual design process, the target BLE slave device can also be found in other ways. For example, each BLE slave device can be stored in advance in the terminal device. A target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.

Step 103: Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.

Step 104: The terminal device is controlled to acquire the location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.

Step 105: Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.

It should be noted that since the first region range in which the target BLE slave device is located can be determined according to S1 and R1. According to S2 and R2, the second area range in which the target BLE slave device is located can be determined. The coincidence position of the first area range and the second area range can be determined as the location where the target BLE slave device is located. Moreover, in the actual design, in order to make the location of the acquisition target BLE more accurate, the terminal device can also be controlled to acquire S3 and R3 in the third position. Finally, based on S1, R1, S2, R2, S3, and R3, the position of the target BLE slave device is calculated.

Through the above, it is not difficult to find that the present embodiment makes it possible to conveniently locate the target BLE slave device, which greatly shortens the time for finding the target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.

A second embodiment of the present invention relates to a Bluetooth BLE based positioning method. The second embodiment is an improvement made on the basis of the first embodiment. The main improvement is that in the second embodiment, the weighted centroid algorithm is used to calculate the area where the target BLE slave device is located.

The specific process is shown in Figure 2, which includes:

Step 201: Turn on the low-power Bluetooth BLE switch of the terminal device to scan the BLE slave device.

It is worth mentioning that the BLE slave device can be a smart device with communication function. For example, the BLE slave device can be, but is not limited to, an active pen. Also, Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2. In an actual application, the target BLE slave device periodically transmits a broadcast data packet. When the terminal device receives the broadcast packet. The terminal device can scan nearby BLE slave devices.

Step 202: Determine whether the target BLE slave device is found. If yes, go to step 203; otherwise, go back to step 201.

Specifically, the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click on the virtual button used to find the target BLE slave device. When the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.

Step 203: Acquire an initial position S1 where the terminal device itself is located. The initial location of the obtained terminal device may be a coordinate origin.

Step 204: Calculate a distance R1 between the terminal device and the target BLE slave device according to the RSSI value.

In this step, the signal of the target BLE slave device may be received first. And the signal strength RSSI value is obtained from the received target BLE from the signal of the device.

It is worth mentioning that the distance based on the received signal strength RSSI can be used to calculate the distance between the terminal device and the target BLE slave device. For example, first, the terminal device receives the Measured Power sent by the target BLE from the device (Measured Power is the reference received signal when the iBeacon module is at a distance of 1 m from the receiver) and the RSSI value after the attenuation through the wireless channel. Secondly, the distance between the terminal device and the target BLE slave device is determined according to the model formula of the indoor wireless signal propagation.

Specifically, the RSSI value P(d) is obtained; Ri is calculated according to the propagation model formula P(d)=P(d0)-10alog(Ri/d0)+m of the signal; wherein a is a preset value, and d0 is The preset distance between the terminal device and the target BLE slave device, P(d0) is the known number obtained from d0.

For example, d0 in the formula is usually 1 meter. P(d0) is the power RSSI value received by the terminal device when the distance between the terminal device and the target BLE slave device is 1 meter. The unit of power RSSI is dBm. a is the wireless channel attenuation factor, which is closely related to the specific wireless environment. It can be stored in advance in the terminal device. m is a random factor with a mean of 0 and a Gaussian distribution. To simplify the calculation, m can be taken as 0. That is, R1 is calculated from P(d)=P(d0)-10alog(R1/d0).

Step 205, the terminal device is controlled to acquire the other location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.

This step may first receive a signal from the target BLE slave device. And the signal strength RSSI value is obtained from the received target BLE from the signal of the device. Adjust the location of the terminal device based on the extracted RSSI value. At the location of the mobile terminal device, the terminal device displays its own moving direction and moving distance. The terminal device also prompts for the RSSI value. Specifically, when the terminal device and the target The RSSI value also changes when the distance of the BLE from the device changes. such as:

One: During the movement of the terminal device, if the RSSI signal is getting stronger. It indicates that the terminal device moves toward the target BLE slave device, and the target BLE slave device is located in the moving direction of the terminal device. The user can be prompted to target the BLE slave device in the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate. Two: If the RSSI signal is getting weaker. It indicates that the terminal device moves away from the target BLE slave device, and the target BLE slave device is located in the opposite direction of the moving direction of the terminal device. The user may be prompted that the target BLE slave device is in the opposite direction of the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate. Three: If the RSSI signal first becomes stronger, it gradually weakens. It indicates that the target BLE slave device is located on both sides of the mobile device's moving route. The user can be prompted that the target BLE slave device is located on both sides of the terminal device moving route. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate.

Other locations of the terminal device are relative positions relative to the initial position. The relative position of the terminal device at other locations can be obtained by acquiring the moving direction and distance of the terminal device relative to the initial position by the acceleration sensor. The relative position of the terminal device at other positions is calculated according to the moving direction and distance. R2 is calculated from P(d)=P(d0)-10alog(R2/d0).

In step 206, a weighted centroid algorithm is used to calculate the geometric centroid of each position of the terminal device according to the coordinates of Si and the value of Ri.

It is worth mentioning that S1 and S2 can be defined as the coordinates (X1, Y1) of two known nodes S1, the coordinates (X2, Y2) of S2, and S12 is defined as the centroid (X12, Y12) (the center of mass is roughly The position of the target BLE slave device), the distance from S12 to S1 is R1, and the distance from S12 to S2 is R2. The principle of the weighted centroid algorithm is roughly as follows:

(X12-X1)/R1=(X2-X12)/R2;

(Y12-Y1)/R1=(Y2-Y12)/R2.

Solving the equations gives:

X12=(X1/R1+X2/R2)/(1/R1+1/R2);

Y12=(Y1/R1+Y2/R2)/(1/R1+1/R2).

Among them, 1 of Ri is the weight of the Si node. Since the distance of the terminal device from the device is relatively close to the target BLE, the measurement error of the target BLE slave device position is relatively small. That is, the smaller the Ri is, the larger the weight is, and the larger the Ri is, the smaller the weight is.

It should be noted that since the target BLE slave device is located at the position where the center of mass of Si is located. Moreover, in the actual design, in order to make the location of the acquisition target BLE more accurate. It is also possible to control the terminal device to acquire S3, R3 in the third position. Finally, based on S1, R1, S2, R2, S3, and R3, the position of the target BLE slave device is calculated. In an actual application, the terminal device can also be controlled to acquire S n and R n in at least N locations. Where N is a natural number greater than 3.

Using the weighted centroid algorithm, the centroids (X123..n, Y123..n) of Sn are calculated from the coordinates of Sn and the value of Rn.

X123..n=(X1/d1+X2/d2+X3/d3+...+X n/d n)/(1/d1+1/d2+1/d3...+1/dn);

Y123..n=(Y1/d1+Y2/d2+Y3/d3+...+Y n/d n)/(1/d1+1/d2+1/d3...+1/dn).

In this embodiment, the target BLE slave device is located in the area where the geometric centroid is located. Wherein, the position of the target BLE slave device is a relative position with respect to the above initial position.

Through the above, it is not difficult to find that the present embodiment uses a weighted centroid algorithm to calculate the area where the target BLE slave device is located. Thus, a specific calculation of the location of the target BLE slave device is provided. Moreover, by this calculation method, the position of the acquisition target BLE slave device is made more accurate.

A third embodiment of the present invention relates to a Bluetooth BLE based positioning method. The third embodiment is substantially the same as the second embodiment. The main difference is that in the second embodiment, the weighted centroid algorithm is used to calculate the area where the target BLE slave device is located. And in the third embodiment In the middle, the area where the target BLE slave device is located is calculated by the equation formula of the column circle.

The specific process is shown in Figure 3, which includes:

Step 301: Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.

In step 302, it is determined whether the target BLE slave device is found. If yes, go to step 303; otherwise, go back to step 301.

Step 303: Acquire an initial position S1 where the terminal device itself is located. The initial location of the obtained terminal device may be a coordinate origin.

Step 304: Calculate a distance R1 between the terminal device and the target BLE slave device according to the RSSI value.

Specifically, the terminal device can receive a signal from the target BLE slave device. The signal strength RSSI value is obtained from the received signal. Based on the parsed RSSI value, the distance R1 between the terminal device and the target BLE slave device is calculated.

It is worth mentioning that the distance based on the received signal strength RSSI can be used to calculate the distance between the terminal device and the target BLE slave device. First, the terminal device receives the Measured Power sent by the target BLE from the device (Measured Power is the reference received signal when the iBeacon module is at a distance of 1 m from the receiver) and the RSSI value after the attenuation through the wireless channel. Secondly, the distance between the terminal device and the target BLE slave device is determined according to the model formula of the indoor wireless signal propagation.

As shown in FIG. 4, the initial position of the terminal device itself is S1. The distance R1 between the terminal device and the target BLE slave device. Therefore, the target BLE slave device is on a circle with a radius of R1 centered on S1.

In step 305, the terminal device is controlled to acquire the other location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device. At this time, the target BLE slave device is on a circle with a radius of R2 centered on S2.

Other locations of the terminal device are relative positions relative to the initial position. The relative position of the terminal device at other locations can be obtained by acquiring the moving direction and distance of the terminal device relative to the initial position by the acceleration sensor. Calculate the terminal device based on the moving direction and distance The relative position of the location. R2 is calculated from P(d)=P(d0)-10alog(R2/d0).

Step 306, in the horizontal direction, taking Si as the center Ri as the equation formula of the radius column circle.

Specifically, since the target BLE slave device is located on a circle having a radius of R1 centered on S1. At the same time, the target BLE slave device is located on a circle with a radius of R2 centered on S2. So the target BLE slave device is located in the intersection of the above two circles.

Step 307, calculating the intersection of each circle based on the coordinates of Si and the value of Ri.

When the above two circles are tangent, according to the coordinates of Si and the value of Ri, the intersection of the two circles is calculated as a point A (as shown in FIG. 4), and the positioning of the target BLE slave device can be accurately achieved.

It is worth mentioning that, as shown in FIG. 5, in the actual application process, if the intersection of the two circles is two points, namely, point B and point C, the target BLE slave device is located at one of the above two points. . At this time, in order to make the acquisition target BLE from the position of the device more accurate. It is also possible to control the terminal device to acquire S3, R3 in the third position. Finally, based on S1, R1, S2, R2, S3, and R3, the position of the target BLE slave device is calculated as point B. The target BLE slave device is located in the area where the intersection of each circle is common, that is, the area where point B is located. Wherein, the position of the target BLE slave device is a relative position with respect to the above initial position.

Through the above, it is not difficult to find that the present embodiment calculates the area where the target BLE slave device is located by the equation formula of the column circle. Thus, a specific calculation of the location of the target BLE slave device is provided. Moreover, by this calculation method, the position of the acquisition target BLE slave device is made more accurate.

A fourth embodiment of the present invention relates to a Bluetooth BLE based positioning method. The fourth embodiment is an improvement made on the basis of the first, second or third embodiment. The main improvement is that in the fourth embodiment, if the positional accuracy of the target BLE slave device exceeds the preset value, the terminal device is moved to the new location, the Si, Ri are reacquired, and finally, according to all Si, Ri, Calculate the location of the target BLE slave device.

The specific process is shown in Figure 6, which includes:

Step 601: Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.

Step 602: Determine whether the target BLE slave device is found. If yes, go to step 603; otherwise, go back to step 601.

Step 603: Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.

Step 604, the terminal device is controlled to acquire the bit of the terminal device itself in another location. Set S2. Obtain the distance R2 between the terminal device and the target BLE slave device.

Step 605: Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.

Step 606: Determine whether the positional accuracy of the target BLE slave device exceeds a preset value. If yes, go to step 607; otherwise, end.

Specifically, since in actual applications, it is possible to calculate the position of the target BLE slave device with an error. For example, the positional accuracy of the target BLE from the device can be set to within 1 square meter. If the position of the target BLE slave device is within 1 square meter, the positional accuracy of the target BLE slave device does not exceed the preset value. If the target BLE slave device's position range exceeds 1 square meter, the target BLE slave device's positional accuracy exceeds the preset value. Moreover, it is worth mentioning that the above accuracy is not limited to being set to within 1 square meter. The above precision can be designed to an arbitrary value according to actual design requirements.

Step 607: Move the terminal device to the new location, and re-acquire the location Si where the terminal device itself is located. Obtain the distance Ri between the terminal device and the target BLE slave device. Among them, the new location is a location different from all the locations of the previous calculation target BLE slave device.

Step 608: Recalculate the location of the target BLE slave device according to all acquired Si and Ri.

It is worth mentioning that if the environmental error is large and the position of the target BLE slave device is recalculated, the positional accuracy of the target BLE slave device may also exceed the preset value. At this point, the user can Manually stop the above positioning process.

Through the above, it is not difficult to find that the present embodiment can make the position of the located target BLE more accurate from the device.

A fifth embodiment of the present invention relates to a Bluetooth BLE-based positioning method. The fifth embodiment is substantially the same as the fourth embodiment. The main improvement is that in the fourth embodiment, if the positional accuracy of the target BLE slave device exceeds the preset value, the terminal device is moved to the new location, the Si, Ri are reacquired, and finally, according to all Si, Ri, Calculate the location of the target BLE slave device. In the fifth embodiment, if the positional accuracy of the target BLE slave device exceeds the preset value, the prompt information for asking the user whether to continue searching is displayed.

The specific process is shown in Figure 7, which includes:

Step 701: Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.

In step 702, it is determined whether the target BLE slave device is found. If yes, go to step 703; otherwise, go back to step 701.

Specifically, the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click to find the target BLE slave device Virtual button. When the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.

Step 703: Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.

Step 704, the terminal device is controlled to acquire the location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.

Step 705: Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.

Step 706: Determine whether the positional accuracy of the target BLE slave device exceeds a preset value. If yes, go to step 707; otherwise, end.

Specifically, since in actual applications, it is possible to calculate the position of the target BLE slave device with an error. For example, the positional accuracy of the target BLE from the device can be set to within 1 square meter. If the position of the target BLE slave device is within 1 square meter, the positional accuracy of the target BLE slave device does not exceed the preset value. If the target BLE slave device's position range exceeds 1 square meter, the target BLE slave device's positional accuracy exceeds the preset value. And, it is worth mentioning that The accuracy is not limited to being set to within 1 square meter. The above precision can be designed to an arbitrary value according to actual design requirements.

Step 707, displaying prompt information for asking the user whether to continue searching.

It should be noted that when the positional accuracy of the target BLE slave device exceeds the preset value, the user may not be able to find the target BLE slave device from the location of the device according to the calculated target BLE. At this time, the user can control the terminal device to move to a new location according to the displayed information, and continue to acquire Si and Ri. Then calculate the position of the target BLE slave device based on all Si, Ri.

The steps of the above various methods are divided for the sake of clear description. The implementation may be combined into one step or split into certain steps and decomposed into multiple steps. As long as the same logical relationship is included, it is within the protection scope of this patent. The addition of insignificant modifications to an algorithm or process, or the introduction of an insignificant design, without changing the core design of its algorithms and processes, is covered by this patent.

A sixth embodiment of the present invention relates to a Bluetooth BLE-based positioning apparatus that is applied to a terminal device. As shown in FIG. 8, the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83. The scanning module 81 is used to scan the BLE slave device. The obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device. The calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.

It is not difficult to find that the present embodiment is an apparatus embodiment corresponding to the first embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still effective in the present embodiment, and are not described herein again in order to reduce repetition. Correspondingly, this The relevant technical details mentioned in the embodiment can also be applied in the first embodiment.

It is worth mentioning that each module involved in this embodiment is a logic module. In practical applications, a logical unit may be a physical unit, a part of a physical unit, or multiple physical entities. A combination of units is implemented. In addition, in order to highlight the innovative part of the present invention, the present embodiment does not introduce a unit that is not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in the present embodiment.

A seventh embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus. The seventh embodiment is an improvement made on the basis of the sixth embodiment. The main improvement is that in the seventh embodiment, the obtaining module at least includes: an obtaining submodule and a first calculating submodule. The first calculation sub-module is configured to calculate the position of the target BLE slave device by using a weighted centroid algorithm.

As shown in FIG. 9, the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83. The scanning module 81 is used to scan the BLE slave device. The obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device. The calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.

It is worth mentioning that the initial position of the terminal device is the coordinate origin, and the other positions are relative positions with respect to the initial position. The position of the target BLE slave device is a relative position with respect to the initial position.

The obtaining module 82 includes at least an obtaining submodule 821 and a first calculating submodule 822. The acquisition sub-module 821 is configured to acquire a moving direction and a distance of the terminal device relative to the initial position by using the acceleration sensor. The first calculation sub-module 822 is configured to calculate the relative position of the terminal device at other locations according to the moving direction and the distance.

In addition, the Bluetooth BLE-based positioning device further includes a receiving module, a parsing module, and an adjusting module. And a receiving module, configured to receive a signal of the target BLE slave device. A parsing module is configured to parse the signal strength RSSI value from the received signal. The adjustment module (the receiving module, the parsing module, and the adjustment module are not shown in the figure) are used to adjust other locations where the terminal device is located according to the parsed RSSI value. It is worth mentioning, for example, one: during the movement of the terminal device, if the RSSI signal is getting stronger. It indicates that the terminal device moves toward the target BLE slave device, and the target BLE slave device is located in the moving direction of the terminal device. The user can be prompted to target the BLE slave device in the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate. Two: If the RSSI signal is getting weaker. It indicates that the terminal device moves away from the target BLE slave device, and the target BLE slave device is located in the opposite direction of the moving direction of the terminal device. The user may be prompted that the target BLE slave device is in the opposite direction of the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate. Three: If the RSSI signal first becomes stronger, it gradually weakens. It indicates that the target BLE slave device is located on both sides of the mobile device's moving route. The user can be prompted that the target BLE slave device is located on both sides of the terminal device moving route. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate.

In addition, the first calculation sub-module 822 is further configured to calculate a geometric centroid of each position of the terminal device according to the coordinates of Si and the value of Ri using a weighted centroid algorithm, and the target BLE slave device is located in an area where the geometric centroid is located.

In addition, the obtaining module 82 further includes: a receiving submodule 823, a parsing submodule 824, and a second computing submodule 825. The receiving submodule 823 is configured to receive a signal of the target BLE slave device. The parsing sub-module 824 is configured to parse the signal strength RSSI value from the received signal. The second calculation sub-module 825 is configured to calculate a distance Ri between the terminal device and the target BLE slave device according to the parsed RSSI value.

In addition, the second calculation sub-module 825 includes: an acquisition unit and a second calculation unit. The obtaining unit is configured to obtain the RSSI value P(d). And a second calculating unit, configured to calculate Ri according to a propagation model formula P(d)=P(d0)-10alog(Ri/d0) of the signal. Where a is a preset value, d0 is a preset distance between the terminal device and the target BLE slave device, and P(d0) is a known number obtained according to d0.

Since the second embodiment and the present embodiment correspond to each other, the present embodiment can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the second embodiment can also be implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the second embodiment.

An eighth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus. The eighth embodiment is substantially the same as the seventh embodiment. The main difference is that in the seventh embodiment, the acquiring module at least includes: an obtaining submodule and a first calculating submodule. In the eighth embodiment, the first calculation sub-module includes: a setting unit and a first calculation unit.

As shown in FIG. 10, the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83. The scanning module 81 is used to scan the BLE slave device. The obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device. The calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.

In addition, the first calculation sub-module 822 includes: a setting unit 8221 and a first calculation unit 8222. The setting unit 8221 is used for an equation formula in which the center of the circle Ri is the radius of the circle in the horizontal direction. The first calculating unit 8222 is configured to calculate the intersection of each circle based on the coordinates of Si and the value of Ri. The target BLE slave device is located in the area where the intersections shared by each circle are located.

Since the third embodiment and the present embodiment correspond to each other, the present embodiment can be implemented in cooperation with the third embodiment. The technical details mentioned in the third embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the third embodiment are also implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the third embodiment.

A ninth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus. The ninth embodiment is an improvement based on the sixth, seventh or eighth embodiment, and the main improvement is that, in the ninth embodiment, the Bluetooth BLE-based positioning device further includes a first judging module.

As shown in FIG. 11, the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83. The scanning module 81 is used to scan the BLE slave device. The obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device. The calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.

In addition, the Bluetooth BLE based positioning device further includes a first determining module 84. The first determining module 84 is configured to determine whether the positional accuracy of the target BLE slave device exceeds a preset value. The obtaining module 82 is further configured to move the terminal device to the new location when the positional accuracy of the target BLE slave device exceeds the preset value, and re-acquire the location Si where the terminal device itself is located. Obtain the distance Ri between the terminal device and the target BLE slave device. Among them, the new location is a location different from all the locations of the previous calculation target BLE slave device. The calculation module is further configured to recalculate the location of the target BLE slave device according to all acquired Si and Ri.

Since the fourth embodiment and the present embodiment correspond to each other, the present embodiment can be implemented in cooperation with the fourth embodiment. The related technical details mentioned in the fourth embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the fourth embodiment are also implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the fourth embodiment.

A tenth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus. Tenth implementer The formula is substantially the same as the ninth embodiment, and the main improvement is that in the ninth embodiment, the Bluetooth BLE-based positioning apparatus further includes a first judging module. In the tenth embodiment, the Bluetooth BLE-based positioning device further includes a second determining module and a display module.

As shown in FIG. 12, the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83. The scanning module 81 is used to scan the BLE slave device. The obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device. The calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.

In addition, the Bluetooth BLE based positioning device further includes a second judging module 85 and a display module 86. The second determining module 85 is configured to determine whether the positional accuracy of the target BLE slave device exceeds a preset value. The display module 86 is configured to display prompt information for asking the user whether to continue searching when the positional accuracy of the target BLE slave device exceeds a preset value.

Since the fifth embodiment and the present embodiment correspond to each other, the present embodiment can be implemented in cooperation with the fifth embodiment. The related technical details mentioned in the fifth embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the fifth embodiment can also be implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related technical details mentioned in the present embodiment can also be applied to the fifth embodiment.

Those skilled in the art can understand that all or part of the steps of implementing the above embodiments may be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for making a device (which may be a single chip microcomputer). The chip, etc. or processor executes all or part of the steps of the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), and a random access memory. A variety of media that can store program code, such as RAM (Random Access Memory), disk, or optical disk.

A person skilled in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and various changes can be made in the form and details without departing from the spirit and scope of the present invention. range.

Claims

A Bluetooth BLE-based positioning method, which is characterized in that it is applied to a terminal device;

The Bluetooth BLE-based positioning method includes:

Scan the BLE slave device;

After scanning to the target BLE slave device, in turn, the terminal device is located at at least two locations, acquiring the location Si where the terminal device is currently located, and the distance Ri between the terminal device and the target BLE slave device;

Calculating the location of the target BLE slave device according to the acquired Si, Ri.
The Bluetooth BLE-based positioning method according to claim 1, wherein an initial position of the terminal device is a coordinate origin, and other positions of the terminal device are relative positions with respect to the initial position;

The position of the target BLE slave device is a relative position relative to the initial position.
The Bluetooth BLE-based positioning method according to claim 2, wherein after the scanning to the target BLE slave device, the Bluetooth BLE-based positioning method further comprises:

Receiving a signal of the target BLE slave device;

Extracting a signal strength RSSI value from the received signal;

Adjusting the location of the terminal device according to the parsed RSSI value.
The Bluetooth BLE-based positioning method according to claim 2, wherein the relative position of the terminal device at the other location is obtained by:

Acquiring, by the acceleration sensor, a moving direction and a distance of the terminal device relative to the initial position;

Calculating a phase of the terminal device relative to the initial position according to the moving direction and distance For the location.
The Bluetooth BLE-based positioning method according to claim 4, wherein the calculating the location of the target BLE slave device according to the acquired Si, Ri includes: using a weighted centroid algorithm, according to Calculating the geometric centroid of each position of the terminal device by the coordinates of Si and the value of Ri, the target BLE slave device being located in the region where the geometric centroid is located;

Alternatively, the calculating the position of the target BLE slave device according to the obtained Si, Ri includes: an equation formula in which the center of Si is in the horizontal direction and the radius is a circle with Ri as a radius, according to The coordinates of the Si and the value of Ri calculate the intersection of each circle, and the target BLE slave device is located in the region where the intersections common to each of the circles are located.
The Bluetooth BLE-based positioning method according to claim 1, wherein after the calculating the location of the target BLE slave device, the Bluetooth BLE-based positioning method further includes:

Determining whether the positional accuracy of the target BLE slave device exceeds a preset value;

When the location accuracy of the target BLE slave device exceeds a preset value, move the terminal device to a new location, re-acquire the location Si where the terminal device is currently located, and re-acquire the terminal device and the target a distance Ri between the BLE slave devices; wherein the new location is different from the at least two locations;

Recalculating the location of the target BLE slave device based on all the acquired Si, Ri.
The Bluetooth BLE-based positioning method according to claim 1, wherein after the calculating the location of the target BLE slave device, the Bluetooth BLE-based positioning method further includes:

Determining whether the positional accuracy of the target BLE slave device exceeds a preset value;

Displaying the user for inquiry when the positional accuracy of the target BLE slave device exceeds a preset value Whether to continue to look for tips.
The Bluetooth BLE-based positioning method according to claim 1, wherein the obtaining a distance Ri between the terminal device and the target BLE slave device comprises:

Receiving a signal of the target BLE slave device;

Extracting a signal strength RSSI value from the received signal;

Calculating a distance Ri between the terminal device and the target BLE slave device according to the parsed RSSI value.
A Bluetooth BLE-based positioning device, which is characterized in that it is applied to a terminal device;

The Bluetooth BLE-based positioning device includes: a scanning module, an obtaining module, and a computing module;

The scanning module is configured to scan a BLE slave device;

The acquiring module is configured to: after the scanning module scans to find the target BLE slave device, sequentially locate the terminal device at at least two locations, acquire the location Si where the terminal device itself is located, and the terminal device and the location Describe the distance Ri between the target BLE slave devices;

The calculating module is configured to calculate a location of the target BLE slave device according to the acquired Si, Ri.
The Bluetooth BLE-based positioning device according to claim 9, wherein the initial position of the terminal device is a coordinate origin, and the other positions of the terminal device are relative positions with respect to the initial position;

The position of the target BLE slave device is a relative position relative to the initial position.
The Bluetooth BLE-based positioning device according to claim 10, wherein the Bluetooth BLE-based positioning device further comprises a receiving module, a parsing module and an adjusting module;

The receiving module is configured to receive a signal of the target BLE slave device;

The parsing module is configured to parse the signal strength RSSI value from the received signal;

The adjusting module is configured to adjust a location where the terminal device is located according to the parsed RSSI value.
The Bluetooth BLE-based locating device according to claim 10, wherein the obtaining module comprises at least: an obtaining sub-module and a first computing sub-module;

The acquiring submodule is configured to acquire, by using an acceleration sensor, a moving direction and a distance of the terminal device relative to the initial position;

The first calculating submodule is configured to calculate a relative position of the terminal device relative to the initial position according to the moving direction and a distance.
The Bluetooth BLE-based positioning device according to claim 12, wherein the first calculating sub-module is further configured to calculate a geometric centroid of each position of the terminal device according to the coordinates of the Si and the value of Ri using a weighted centroid algorithm. The target BLE slave device is located in an area where the geometric centroid is located;

Alternatively, the first calculation sub-module is used for formulating an equation in which the center of Si is in the horizontal direction and Ri is a radius, and is used to calculate each circle according to the coordinates of the Si and the value of Ri. The intersection point of the target BLE slave device is located in the area where the intersection of each circle is common.
The Bluetooth BLE-based positioning device according to claim 9, wherein the Bluetooth BLE-based positioning device further comprises a first determining module;

The first determining module is configured to determine whether a location accuracy of the target BLE slave device exceeds a preset value;

The acquiring module is further configured to: when the location accuracy of the target BLE slave device exceeds a preset value, move the terminal device to a new location, re-acquire a location Si where the terminal device itself is located, and the a distance Ri between the terminal device and the target BLE slave device; wherein the new location is a location different from all locations where the target BLE slave device was previously calculated;

The calculation module is further configured to recalculate the location of the target BLE slave device according to all the acquired Si, Ri.
The Bluetooth BLE-based positioning device according to claim 9, wherein the Bluetooth BLE-based positioning device further comprises a second determining module and a display module;

The second determining module is configured to determine whether the location accuracy of the target BLE slave device exceeds a preset value;

The display module is configured to display prompt information for asking the user whether to continue searching when the positional accuracy of the target BLE slave device exceeds a preset value.
The Bluetooth BLE-based positioning device according to claim 9, wherein the obtaining module further comprises: a receiving sub-module, a parsing sub-module and a second computing sub-module;

The receiving submodule is configured to receive a signal of the target BLE slave device;

The parsing submodule is configured to parse the signal strength RSSI value from the received signal;

The second calculating submodule is configured to calculate a distance Ri between the terminal device and the target BLE slave device according to the parsed RSSI value.