CN108566676A - A kind of bluetooth localization method - Google Patents
A kind of bluetooth localization method Download PDFInfo
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- CN108566676A CN108566676A CN201810042910.4A CN201810042910A CN108566676A CN 108566676 A CN108566676 A CN 108566676A CN 201810042910 A CN201810042910 A CN 201810042910A CN 108566676 A CN108566676 A CN 108566676A
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- 230000000875 corresponding Effects 0.000 claims abstract description 25
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- 238000004364 calculation methods Methods 0.000 abstract description 9
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/005—Discovery of network devices, e.g. terminals
Abstract
Description
Technical field
The present invention relates to internet of things field more particularly to a kind of bluetooth localization methods.
Background technology
Gradual rise based on mobile Internet, many public places all start to come to moving extensively using bluetooth location technology Dynamic object is positioned.For example, administrative department can grasp underlying movement (including the user of personnel using bluetooth location technology Specific movable content and time), with this come information such as mobility status, the positions of checking personnel.
Bluetooth location technology includes mainly following three kinds at present：
(1) angle of arrival measuring technique
Positioned using the angle between reference mode and mobile node, the technical solution need increase directional aerial it Outer hardware is unfavorable for promoting, thus with larger limitation when application.
(2) reach time measurement technology
First, the signal arrival time difference that two reception antennas receive is measured；Then, which is converted into microspur From, and bring Hyperbolic Equation into, form simultaneous Hyperbolic Equation group；Finally, the Simultaneous Equations are solved using efficient algorithm Solution completes positioning.In actual use, Bluetooth signal is easy to be interfered, and is also influenced by propagated, so Error is larger in practice.
(3) time reaches measuring technique
By the propagation time of direct wave between measurement dual-mode antenna come ranging, and then positioned using related algorithm.By In interior, there are a large amount of non-line-of-sight propagations, cause precision poor, simultaneously because this locating scheme at least needs 3 reference nodes Point, and the time synchronization cost of reference mode is often very huge, therefore be not used to position.
To sum up, defect existing for current bluetooth location technology is：It needs to put into directional aerial, cost input is larger；It is blue Tooth signal is vulnerable to interference, is also influenced by propagation path, and application condition is big in practice.
Invention content
In order to solve the above technical problem, the present invention provides a kind of bluetooth localization methods, include the following steps：
Multiple bluetooth equipments are disposed in default scene；
The bluetooth equipment sends out Bluetooth signal to surrounding, wherein the Bluetooth signal includes the bluetooth mark of the bluetooth equipment Know, the bluetooth equipment and Bluetooth identification correspond；
Blue-tooth device to be positioned searches for the Bluetooth signal that surrounding bluetooth equipment is sent out, and is believed according to the bluetooth searched Number determine Bluetooth identification and bluetooth signal intensity value；
If the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is more than or equal to preset value M, M indigo plant is chosen Tooth identifies corresponding M bluetooth signal intensity value, and determines that the bluetooth to be positioned fills according to the M bluetooth signal intensity value Set the distance between M bluetooth equipment corresponding with M Bluetooth identification respectively；
According to the blue-tooth device to be positioned respectively with the distance between the M bluetooth equipment and it is described M it is blue The position of blue-tooth device to be positioned described in the location determination of tooth equipment.
In one embodiment, the position of the blue-tooth device to be positioned is determined according to following steps：
The longitude and latitude of the M bluetooth equipment is obtained, and the longitude and latitude of the M bluetooth equipment is converted into the earth and is sat Mark；
Using Pythagorean theorem, according to the blue-tooth device to be positioned respectively between the M bluetooth equipment The geodetic coordinates of distance and the M bluetooth equipment determines the geodetic coordinates of the blue-tooth device to be positioned；
The geodetic coordinates of the blue-tooth device to be positioned is converted into latitude.
In one embodiment, the geodetic coordinates of the blue-tooth device to be positioned is determined according to following formula one：
Expression formula one：
Wherein, the M is 3, and it is blue that the M bluetooth equipment is defined as the first bluetooth equipment, the second bluetooth equipment and third Tooth equipment；(x0,y0) indicate the geodetic coordinates of the blue-tooth device to be positioned；(x1,y1) indicate the big of first bluetooth equipment Ground coordinate；(x2,y2) indicate the geodetic coordinates of second bluetooth equipment；(x3,y3) indicate the big of the third bluetooth equipment Ground coordinate；d1,d2,d3Indicate blue-tooth device to be positioned respectively with first bluetooth equipment, the second bluetooth equipment and third bluetooth The distance between equipment.
In one embodiment, the position of the blue-tooth device to be positioned is determined according to following steps：
The longitude and latitude of the M bluetooth equipment is obtained, and the longitude and latitude of the M bluetooth equipment is converted into the earth and is sat Mark；
The geodetic coordinates of the M bluetooth equipment is subjected to coordinate shift according to preset rules；
Using Pythagorean theorem, according to the blue-tooth device to be positioned respectively between the M bluetooth equipment Geodetic coordinates after distance and M bluetooth equipment offset determines that the earth after the blue-tooth device offset to be positioned is sat Mark；
Geodetic coordinates after the blue-tooth device offset to be positioned is subjected to coordinate inverse migration, obtains the bluetooth to be positioned The geodetic coordinates of device, and the geodetic coordinates of the blue-tooth device to be positioned is converted into latitude.
In one embodiment, the M is 3, and the M bluetooth equipment is defined as the first bluetooth equipment, the second bluetooth is set Standby and third bluetooth equipment；
By the geodetic coordinates (x of first bluetooth equipment1,y1), the geodetic coordinates (x of the second bluetooth equipment2,y2) and the Geodetic coordinates (the x of three bluetooth equipments3,y3) coordinate shift is carried out, obtain the geodetic coordinates after the first bluetooth equipment offset (0,0), the geodetic coordinates (d, 0) after the second bluetooth equipment offset and the geodetic coordinates after third bluetooth equipment offset (i,j)；
The geodetic coordinates (x, y) after the blue-tooth device offset to be positioned is determined according to following formula two：
Expression formula two：
Wherein, r1,r2,r3Indicate blue-tooth device to be positioned respectively with first bluetooth equipment, the second bluetooth equipment and The distance between three bluetooth equipments.
In one embodiment, the corresponding M bluetooth signal intensity value of M Bluetooth identification is chosen according to following steps：
To the Bluetooth identifications of all Bluetooth signals and bluetooth signal intensity value that are searched in predetermined period according to bluetooth mark Knowledge is classified；
Calculate the average value of the corresponding multiple bluetooth signal intensity values of each Bluetooth identification in predetermined period；
The average value for the corresponding bluetooth signal intensity value of all Bluetooth identifications that comparison search arrives, and arranged from big to small Sequence；
Choose the average value of the M forward bluetooth signal intensity value of sequence.
In one embodiment, if the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is less than preset value M, Choose maximum bluetooth signal intensity value, and using the maximum bluetooth signal intensity be worth the position of corresponding bluetooth equipment as The position of the blue-tooth device to be positioned.
In one embodiment, the bluetooth equipment is Bluetooth label.
In one embodiment, further comprising the steps of：
The longitude and latitude for the multiple bluetooth equipments disposed in default scene is stored into the database into server.
In one embodiment, further comprising the steps of：
Determining Bluetooth identification and bluetooth signal intensity value are uploaded to by the blue-tooth device to be positioned by wireless network The server.
Compared with prior art, one or more of said program embodiment can have the following advantages that or beneficial to effect Fruit：
(1) bluetooth localization method provided by the invention is applied, it is only necessary to determine that the bluetooth that blue-tooth device to be positioned searches is set Standby position, Bluetooth identification and bluetooth signal intensity value, can determine the position of blue-tooth device to be positioned, the data volume needed It is few, save data calculation time.
(2) bluetooth localization method provided by the invention is applied, without increasing the hardware such as directional aerial, it is only necessary to general bluetooth Label can realize that positioning, cost are relatively low.
(3) using bluetooth localization method provided by the invention, the multi collect bluetooth signal intensity value in predetermined period, so Multiple bluetooth signal intensity values corresponding to each Bluetooth identification are averaged afterwards, and bluetooth signal intensity value is recycled to be averaged Location Calculation is carried out, error caused by capable of effectively avoiding Bluetooth signal from fluctuating improves the accuracy rate of bluetooth positioning.
(4) bluetooth localization method provided by the invention is applied, it can be right in the case where the Bluetooth identification searched is less Blue-tooth device to be positioned carries out effective position.
Other features and advantages of the present invention will be illustrated in the following description, and partly becomes from specification It is clear that understand through the implementation of the invention.Objectives and other advantages of the present invention can be by wanting in specification, right Specifically noted structure is sought in book and attached drawing to realize and obtain.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 shows the flow chart of the bluetooth localization method of first embodiment of the invention；
Fig. 2 shows the schematic diagrames of the three-point fix algorithm of first embodiment of the invention；
Fig. 3 shows the flow chart of the bluetooth localization method of second embodiment of the invention.
Specific implementation mode
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to be applied to the present invention whereby Technological means solves technical problem, and the realization process for reaching technique effect can fully understand and implement.It needs to illustrate As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, It is formed by technical solution within protection scope of the present invention.
First embodiment
Hardware device in the present embodiment includes multiple bluetooth equipments, at least one blue-tooth device to be positioned and server. Wherein, bluetooth equipment is preferably Bluetooth label, and short-distance wireless electric wave can be sent out to surrounding.Blue-tooth device to be positioned can be tool There are the equipment of Bluetooth function and radio network functions, such as the Intelligent bracelet with Bluetooth function and radio network functions.Service Device is connect by wireless network with blue-tooth device to be positioned, can calculation processing location data.
The bluetooth localization method of the present embodiment is described in detail below.
Fig. 1 is the flow chart of the bluetooth localization method of first embodiment of the invention.As shown in Figure 1, may include following step Rapid S110 to S150.
In step s 110, multiple bluetooth equipments are disposed in default scene.
In the present embodiment, default scene can be the public place for needing to carry out indoor positioning, such as petrochemical plant Region.Specifically, can according to the standard indoor map in petrochemical plant region, to impinge upon be arranged in map in standard chamber it is more Multiple bluetooth equipments are arranged on corresponding position in practical petrochemical plant region in the longitude and latitude of a bluetooth anchor point.
It should be noted that further including before step S110：By the warp for the multiple bluetooth equipments disposed in default scene Latitude stores the database into server.
Specifically, server establishes the database of multiple bluetooth locating point positions based on standard indoor map, that is, will In the longitude and latitude storage to database of multiple bluetooth equipments.
In the step s 120, bluetooth equipment sends out Bluetooth signal to surrounding, and wherein Bluetooth signal includes the bluetooth equipment Bluetooth identification, bluetooth equipment and Bluetooth identification correspond.
Specifically, bluetooth equipment can send short-distance wireless electric wave signal to surrounding, which includes The unique Bluetooth of the bluetooth equipment identifies.
In step s 130, blue-tooth device to be positioned searches for the Bluetooth signal that surrounding bluetooth equipment is sent out, and according to The Bluetooth signal searched determines Bluetooth identification and bluetooth signal intensity value.
Specifically, the Bluetooth signal of blue-tooth device search predetermined period to be positioned, and obtain the bluetooth letter each searched Number Bluetooth identification and bluetooth signal intensity value.Predetermined period is preferably 3 seconds.
Further include after step s 130：Blue-tooth device to be positioned leads to determining Bluetooth identification and bluetooth signal intensity value It crosses wireless network and is uploaded to server.
Specifically, blue-tooth device to be positioned leads to all Bluetooth identifications obtained in predetermined period and bluetooth signal intensity value It crosses wireless network and is uploaded to server.
In step S140, if the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is more than or equal to preset value M then chooses the corresponding M bluetooth signal intensity value of M Bluetooth identification, and is determined according to M bluetooth signal intensity value to be positioned Blue-tooth device the distance between M bluetooth equipment corresponding with M Bluetooth identification respectively.
Preferably, Bluetooth identification and bluetooth signal intensity of the server to all Bluetooth signals searched in predetermined period Value carries out collating sort according to Bluetooth identification, calculates the corresponding multiple bluetooth signal intensity values of each Bluetooth identification in predetermined period Average value, the average value for the corresponding bluetooth signal intensity value of all Bluetooth identifications that comparison search arrives, and carrying out from big to small The average value of the M forward bluetooth signal intensity value of sequence is chosen in sequence.The multi collect bluetooth signal intensity in predetermined period Value, then multiple bluetooth signal intensity values corresponding to each Bluetooth identification are averaged, and bluetooth signal intensity value is recycled to take Average value carries out location Calculation, and error caused by capable of effectively avoiding Bluetooth signal from fluctuating improves the accuracy rate of bluetooth positioning.
It is blue with the distance between M bluetooth equipment and M respectively according to blue-tooth device to be positioned in step S150 The position of the location determination blue-tooth device to be positioned of tooth equipment.In the present embodiment, the quantity M for positioning required bluetooth equipment is 3, but M is not limited only to 3, as long as disclosure satisfy that location requirement.
Specifically, server obtains 3 bluetooth equipments (the first bluetooth equipment, the second indigo plant chosen from database first Tooth equipment and third bluetooth equipment) longitude and latitude, and the longitude and latitude of the first bluetooth equipment is converted into geodetic coordinates (x1,y1), it will The longitude and latitude of second bluetooth equipment is converted to geodetic coordinates (x2,y2), the longitude and latitude of third bluetooth equipment is converted into geodetic coordinates (x3,y3)。
Secondly utilize Pythagorean theorem, according to blue-tooth device to be positioned respectively with the first bluetooth equipment, the second bluetooth The distance between equipment and third bluetooth equipment and the first bluetooth equipment, the second bluetooth equipment and third bluetooth equipment it is big Ground coordinate determines the geodetic coordinates of blue-tooth device to be positioned.The geodetic coordinates of blue-tooth device to be positioned is set as (x0,y0), it is to be positioned Blue-tooth device is set as d with the distance between the first bluetooth equipment, the second bluetooth equipment and third bluetooth equipment respectively1,d2,d3.Point Not with (x1,y1)、(x2,y2)、(x3,y3) it is central coordinate of circle, with d1,d2,d3Make 3 circles for circular radius, according to Bi Dage Lars theorem, obtains following formula：
Geodetic coordinates (the x of positioning blue-tooth device can be acquired according to above-mentioned expression formula (1)0,y0).That is, 3 circular Intersection position.
Finally by the geodetic coordinates (x of blue-tooth device to be positioned0,y0) be converted into latitude, that is, it realizes and blue-tooth device is determined Position.
For convenience of calculation, by the geodetic coordinates (x of the first bluetooth equipment1,y1), the geodetic coordinates of the second bluetooth equipment (x2,y2) and third bluetooth equipment geodetic coordinates (x3,y3) coordinate shift is carried out, it obtains big after the offset of the first bluetooth equipment The geodetic coordinates after geodetic coordinates (d, 0) and the offset of third bluetooth equipment after ground coordinate (0,0), the offset of the second bluetooth equipment (i,j).Geodetic coordinates after blue-tooth device offset to be positioned is set as (x, y), and blue-tooth device to be positioned is set with the first bluetooth respectively The distance between standby, the second bluetooth equipment and third bluetooth equipment are set as r1,r2,r3.Respectively with (x1,y1)、(x2,y2)、(x3, y3) it is central coordinate of circle, with r1,r2,r3Make 3 circles for circular radius to get to Fig. 2.The central coordinate of circle of first circle P1 For (0,0), second circle P2 is in identical ordinate, and central coordinate of circle is (d, 0), and the central coordinate of circle of third circle P3 is (i, j), three circular radius are respectively r1,r2,r3, z is the height of three circular crosspoints and horizontal plane.
Here, it should be noted that be not that 3 circles can be just every time because Bluetooth signal has fluctuation situation Good intersection, most of situation is a region, so having general 1 meter or so of error.
According to Pythagorean theorem, following formula is obtained：
Z=0, i.e., three circles P1, P2, P3 is enabled to intersect in the horizontal plane for a bit, the expression formula for solving x is as follows：
Z ≠ 0 is enabled, respectively deforms above-mentioned expression formula (2), the expression formula for solving y is as follows：
Based on this, you can obtain the geodetic coordinates after blue-tooth device offset to be positioned and be set as (x, y).
Then, the geodetic coordinates after blue-tooth device to be positioned being deviated is set as (x, y) and carries out coordinate inverse migration, obtains undetermined The practical geodetic coordinates of position blue-tooth device, and the practical geodetic coordinates of blue-tooth device to be positioned is converted into latitude, that is, it realizes Positioning to blue-tooth device.
Using bluetooth localization method provided in this embodiment, it is only necessary to determine the bluetooth equipment that blue-tooth device to be positioned searches Position, Bluetooth identification and bluetooth signal intensity value, can determine the position of blue-tooth device to be positioned, the data volume needed is few, Save data calculation time.And without increasing the hardware such as directional aerial, it is only necessary to general Bluetooth label can realize positioning, Cost is relatively low.
Further, the multi collect bluetooth signal intensity value in predetermined period, it is then corresponding to each Bluetooth identification Multiple bluetooth signal intensity values are averaged, and bluetooth signal intensity value is recycled to be averaged carry out location Calculation, can be effective Error caused by avoiding Bluetooth signal from fluctuating improves the accuracy rate of bluetooth positioning.
Second embodiment
Hardware device in the present embodiment includes multiple bluetooth equipments, at least one blue-tooth device to be positioned and server. Wherein, bluetooth equipment is preferably Bluetooth label, and short-distance wireless electric wave can be sent out to surrounding.Blue-tooth device to be positioned can be tool There are the equipment of Bluetooth function and radio network functions, such as the Intelligent bracelet with Bluetooth function and radio network functions.Service Device is connect by wireless network with blue-tooth device to be positioned, can calculation processing location data.
The bluetooth localization method of the present embodiment is described in detail below.
Fig. 3 is the flow chart of the bluetooth localization method of second embodiment of the invention.As shown in figure 3, may include following step Rapid S310 to S340.
In step S310, multiple bluetooth equipments are disposed in default scene.
In the present embodiment, default scene can be the public place for needing to carry out indoor positioning, such as petrochemical plant Region.Specifically, can according to the standard indoor map in petrochemical plant region, to impinge upon be arranged in map in standard chamber it is more Multiple bluetooth equipments are arranged on corresponding position in practical petrochemical plant region in the longitude and latitude of a bluetooth anchor point.
It should be noted that further including before step S310：By the warp for the multiple bluetooth equipments disposed in default scene Latitude stores the database into server.Specifically, server establishes multiple bluetooths based on standard indoor map and positions point The database set, that is, will be in the longitude and latitude storage to database of multiple bluetooth equipments.
In step s 320, bluetooth equipment sends out Bluetooth signal to surrounding, and wherein Bluetooth signal includes the bluetooth equipment Bluetooth identification, bluetooth equipment and Bluetooth identification correspond.
Specifically, bluetooth equipment can send short-distance wireless electric wave signal to surrounding, which includes The unique Bluetooth of the bluetooth equipment identifies.
In step S330, blue-tooth device to be positioned searches for the Bluetooth signal that surrounding bluetooth equipment is sent out, and according to The Bluetooth signal searched determines Bluetooth identification and bluetooth signal intensity value.
Specifically, the Bluetooth signal of blue-tooth device search predetermined period to be positioned, and obtain the bluetooth letter each searched Number Bluetooth identification and bluetooth signal intensity value.Predetermined period is preferably 3 seconds.
Further include after step S330：Blue-tooth device to be positioned leads to determining Bluetooth identification and bluetooth signal intensity value It crosses wireless network and is uploaded to server.
Specifically, blue-tooth device to be positioned leads to all Bluetooth identifications obtained in predetermined period and bluetooth signal intensity value It crosses wireless network and is uploaded to server.
In step S340, if the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is less than preset value M, choosing Maximum bluetooth signal intensity value is taken, and maximum bluetooth signal intensity is worth the position of corresponding bluetooth equipment as to be positioned The position of blue-tooth device.
Optionally, it if the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is 2, chooses in predetermined period The average value of maximum bluetooth signal intensity value, and by the corresponding bluetooth equipment of average value of maximum bluetooth signal intensity value Position of the position as blue-tooth device to be positioned.
Optionally, if the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is 1, by the Bluetooth identification pair Position of the position for the bluetooth equipment answered as blue-tooth device to be positioned.
Using bluetooth localization method provided in this embodiment, can be treated in the case where the Bluetooth identification searched is less It positions blue-tooth device and carries out effective position, only need position, the bluetooth of the bluetooth equipment for determining that blue-tooth device to be positioned searches Mark and bluetooth signal intensity value, can determine the position of blue-tooth device to be positioned, and the data volume needed is few, save data and calculate Time.And without increasing the hardware such as directional aerial, it is only necessary to which general Bluetooth label can realize that positioning, cost are relatively low.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting Embodiment is not limited to the present invention.Any those skilled in the art to which this invention pertains are not departing from this Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details, But protection scope of the present invention still should be subject to the scope of the claims as defined in the appended claims.
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| WO2020186659A1 (en) * | 2019-03-18 | 2020-09-24 | 广东小天才科技有限公司 | Method for localizing intelligent device, and intelligent device |
| CN110493719A (en) * | 2019-08-30 | 2019-11-22 | 北京百度网讯科技有限公司 | Indoor orientation method, device, computer equipment and storage medium based on BLE |
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