CN108566676A - A kind of bluetooth localization method - Google Patents

A kind of bluetooth localization method Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
bluetooth
equipment
tooth
blue
bluetooth equipment
Prior art date
Application number
CN201810042910.4A
Other languages
Chinese (zh)
Inventor
张少宁
谌湘临
张九华
Original Assignee
石化盈科信息技术有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 石化盈科信息技术有限责任公司 filed Critical 石化盈科信息技术有限责任公司
Priority to CN201810042910.4A priority Critical patent/CN108566676A/en
Publication of CN108566676A publication Critical patent/CN108566676A/en

Links

Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/06Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B17/00Monitoring; Testing
    • H04B17/30Monitoring; Testing of propagation channels
    • H04B17/309Measuring or estimating channel quality parameters
    • H04B17/318Received signal strength
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W8/00Network data management
    • H04W8/005Discovery of network devices, e.g. terminals

Abstract

The invention discloses a kind of bluetooth localization methods, including:Multiple bluetooth equipments are disposed in default scene;Bluetooth equipment sends out Bluetooth signal to surrounding, and wherein Bluetooth signal includes the Bluetooth identification of the bluetooth equipment, and 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 determines Bluetooth identification and bluetooth signal intensity value according to the Bluetooth signal searched;If the quantity of the Bluetooth identification determined according to the Bluetooth signal searched is more than or equal to preset value M, the corresponding M bluetooth signal intensity value of M Bluetooth identification is then chosen, and blue-tooth device to be positioned the distance between M bluetooth equipment corresponding with M Bluetooth identification respectively is determined according to M bluetooth signal intensity value;According to the blue-tooth device to be positioned position with the distance between M bluetooth equipment and the location determination blue-tooth device to be positioned of M bluetooth equipment respectively.The present invention is without putting into positioning antenna, and cost is relatively low, and data calculation amount is small.

Description

A kind of bluetooth localization method

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.

Claims (10)

1. a kind of bluetooth localization method, which is characterized in that 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 identification of the bluetooth equipment, 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 true according to the Bluetooth signal searched 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 bluetooth mark is chosen Know corresponding M bluetooth signal intensity value, and the blue-tooth device to be positioned point is determined according to the M bluetooth signal intensity value The distance between M bluetooth equipment not corresponding with M Bluetooth identification;
According to the blue-tooth device to be positioned respectively with the distance between the M bluetooth equipment and the M bluetooth equipment Location determination described in blue-tooth device to be positioned position.
2. bluetooth localization method according to claim 1, which is characterized in that determine the indigo plant to be positioned according to following steps The position of tooth device:
The longitude and latitude of the M bluetooth equipment is obtained, and the longitude and latitude of the M bluetooth equipment is converted into geodetic coordinates;
Using Pythagorean theorem, according to the blue-tooth device to be positioned respectively the distance between with the M bluetooth equipment, And the geodetic coordinates of 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.
3. bluetooth localization method according to claim 2, which is characterized in that determined according to following formula one described undetermined The geodetic coordinates of position blue-tooth device:
Expression formula one:
Wherein, the M is 3, and the M bluetooth equipment is defined as the first bluetooth equipment, the second bluetooth equipment and third bluetooth and sets It is standby;(x0,y0) indicate the geodetic coordinates of the blue-tooth device to be positioned;(x1,y1) indicate that the earth of first bluetooth equipment is sat Mark;(x2,y2) indicate the geodetic coordinates of second bluetooth equipment;(x3,y3) indicate that the earth of the third bluetooth equipment is sat Mark;d1,d2,d3Indicate blue-tooth device to be positioned respectively with first bluetooth equipment, the second bluetooth equipment and third bluetooth equipment The distance between.
4. bluetooth localization method according to claim 1, which is characterized in that determine the indigo plant to be positioned according to following steps The position of tooth device:
The longitude and latitude of the M bluetooth equipment is obtained, and the longitude and latitude of the M bluetooth equipment is converted into geodetic coordinates;
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 the distance between with the M bluetooth equipment, And the geodetic coordinates after the M bluetooth equipment offset determines the geodetic coordinates after the blue-tooth device offset to be positioned;
Geodetic coordinates after the blue-tooth device offset to be positioned is subjected to coordinate inverse migration, obtains the blue-tooth device to be positioned Geodetic coordinates, and the geodetic coordinates of the blue-tooth device to be positioned is converted into latitude.
5. bluetooth localization method according to claim 4, which is characterized in that the M is 3, the M bluetooth equipment definition For the first bluetooth equipment, the second bluetooth equipment 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 third bluetooth Geodetic coordinates (the x of equipment3,y3) coordinate shift is carried out, obtain the geodetic coordinates (0,0) after the first bluetooth equipment offset, institute State the geodetic coordinates (d, 0) after the offset of the second bluetooth equipment and the geodetic coordinates (i, j) after third bluetooth equipment offset;
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 that blue-tooth device to be positioned is blue with first bluetooth equipment, the second bluetooth equipment and third respectively The distance between tooth equipment.
6. bluetooth localization method according to claim 1, which is characterized in that choose M Bluetooth identification according to following steps Corresponding M bluetooth signal intensity value:
To the Bluetooth identification of all Bluetooth signals that is searched in predetermined period and bluetooth signal intensity value according to Bluetooth identification into Row classification;
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 be ranked up from big to small;
Choose the average value of the M forward bluetooth signal intensity value of sequence.
7. bluetooth localization method according to claim 1, which is characterized in that if determined according to the Bluetooth signal searched The quantity of Bluetooth identification is less than preset value M, chooses maximum bluetooth signal intensity value, and by the maximum bluetooth signal intensity It is worth position of the position of corresponding bluetooth equipment as the blue-tooth device to be positioned.
8. bluetooth localization method according to claim 1, which is characterized in that the bluetooth equipment is Bluetooth label.
9. bluetooth localization method according to claim 1, which is characterized in that 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.
10. bluetooth localization method according to claim 9, which is characterized in that further comprising the steps of:
Determining Bluetooth identification and bluetooth signal intensity value are uploaded to described by the blue-tooth device to be positioned by wireless network Server.
CN201810042910.4A 2018-01-17 2018-01-17 A kind of bluetooth localization method CN108566676A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810042910.4A CN108566676A (en) 2018-01-17 2018-01-17 A kind of bluetooth localization method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810042910.4A CN108566676A (en) 2018-01-17 2018-01-17 A kind of bluetooth localization method

Publications (1)

Publication Number Publication Date
CN108566676A true CN108566676A (en) 2018-09-21

Family

ID=63530073

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810042910.4A CN108566676A (en) 2018-01-17 2018-01-17 A kind of bluetooth localization method

Country Status (1)

Country Link
CN (1) CN108566676A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109618284A (en) * 2019-02-20 2019-04-12 清华珠三角研究院 Three-dimensional base station positioning method and device
CN109788429A (en) * 2019-01-28 2019-05-21 武汉慧联无限科技有限公司 Improve the optimization method of bluetooth positioning accuracy
CN109922438A (en) * 2019-01-10 2019-06-21 成都数据天空科技有限公司 It is a kind of based on mobile phone positioning space in personnel positioning method and system
CN109922523A (en) * 2019-01-21 2019-06-21 福建联迪商用设备有限公司 A kind of bluetooth localization method and terminal
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
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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101872470A (en) * 2010-05-30 2010-10-27 李滨 Correction and target point positioning method of CT or MRI image
CN102186242A (en) * 2011-05-09 2011-09-14 江南大学 Method for positioning mobile node of wireless sensor network in fixed area
CN102854491A (en) * 2012-08-24 2013-01-02 东莞中山大学研究院 Method and system for carrying out positioning on the basis of Bluetooth technology
CN103929807A (en) * 2014-04-28 2014-07-16 上海和视环境艺术工程有限公司 Method for precisely positioning device coordinate based on low power consumption
CN103945530A (en) * 2014-05-04 2014-07-23 成都佳锂科技有限公司 Positioning device based on low energy Bluetooth
CN106937249A (en) * 2017-02-17 2017-07-07 东莞科学馆 Wireless location intelligent management system
KR101754535B1 (en) * 2016-06-14 2017-07-20 순천향대학교 산학협력단 System and method of compensating rssi signal for ble-based positioning

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101872470A (en) * 2010-05-30 2010-10-27 李滨 Correction and target point positioning method of CT or MRI image
CN102186242A (en) * 2011-05-09 2011-09-14 江南大学 Method for positioning mobile node of wireless sensor network in fixed area
CN102854491A (en) * 2012-08-24 2013-01-02 东莞中山大学研究院 Method and system for carrying out positioning on the basis of Bluetooth technology
CN103929807A (en) * 2014-04-28 2014-07-16 上海和视环境艺术工程有限公司 Method for precisely positioning device coordinate based on low power consumption
CN103945530A (en) * 2014-05-04 2014-07-23 成都佳锂科技有限公司 Positioning device based on low energy Bluetooth
KR101754535B1 (en) * 2016-06-14 2017-07-20 순천향대학교 산학협력단 System and method of compensating rssi signal for ble-based positioning
CN106937249A (en) * 2017-02-17 2017-07-07 东莞科学馆 Wireless location intelligent management system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109922438A (en) * 2019-01-10 2019-06-21 成都数据天空科技有限公司 It is a kind of based on mobile phone positioning space in personnel positioning method and system
CN109922523A (en) * 2019-01-21 2019-06-21 福建联迪商用设备有限公司 A kind of bluetooth localization method and terminal
CN109788429A (en) * 2019-01-28 2019-05-21 武汉慧联无限科技有限公司 Improve the optimization method of bluetooth positioning accuracy
CN109618284A (en) * 2019-02-20 2019-04-12 清华珠三角研究院 Three-dimensional base station positioning method and device
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

Similar Documents

Publication Publication Date Title
Cantón Paterna et al. A bluetooth low energy indoor positioning system with channel diversity, weighted trilateration and kalman filtering
EP3275254B1 (en) System and method for indoor localization using beacons
Xiao et al. An RSSI based DV-hop algorithm for wireless sensor networks
JP2020191656A (en) Methods and equipment for the use of real and / or virtual beacons
CN105223549B (en) A kind of full mobile node positioning method of wireless sensor network based on RSSI
CN104812061B (en) A kind of indoor ranging and localization method based on MIMO-OFDM channel state information
US20170091223A1 (en) Positioning system
US9551775B2 (en) Enhancing client location via beacon detection
US9374674B2 (en) Method and apparatus for recognizing indoor location using received signal strength intensity map
CN103476109B (en) A kind of indoor AP localization method
Boukerche et al. Localization systems for wireless sensor networks
US7194272B2 (en) Calculation method in a radio system for calculating the geometrical time difference between transmitters
Zanca et al. Experimental comparison of RSSI-based localization algorithms for indoor wireless sensor networks
CN105093177B (en) A kind of RSSI localization methods based on frequency hopping
TWI345641B (en) A method and system for locating a mobile radio receiver in a radio system with multiple transmitters
CN103402258B (en) Wi-Fi (Wireless Fidelity)-based indoor positioning system and method
KR101436031B1 (en) System and method for position estimation using downlink access point
CN106658713B (en) Single base station mobile user positioning method based on multi-parameter estimation
EP1617601B1 (en) Distributed precision based localization algorithm for ad-hoc wireless networks
US7424300B2 (en) Method for tracking location of a mobile unit
EP3033632B9 (en) 3d sectorized path-loss models for 3d positioning of mobile terminals
Jiménez et al. Comparing Decawave and Bespoon UWB location systems: Indoor/outdoor performance analysis
US20130196684A1 (en) Generating indoor radio map, locating indoor target
Alavi et al. Modeling of the distance error for indoor geolocation
KR101424747B1 (en) Method and apparatus for position estimation of access point in wi-fi system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination