CN109246620A - The method and apparatus of beacon tracking - Google Patents
The method and apparatus of beacon tracking Download PDFInfo
- Publication number
- CN109246620A CN109246620A CN201810908827.0A CN201810908827A CN109246620A CN 109246620 A CN109246620 A CN 109246620A CN 201810908827 A CN201810908827 A CN 201810908827A CN 109246620 A CN109246620 A CN 109246620A
- Authority
- CN
- China
- Prior art keywords
- tracking
- beacon
- signal value
- signal
- field
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- 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
The invention discloses a kind of method and apparatus of beacon tracking.This method comprises: acquiring the signal value of beacon in beacon tracing process；According to the different directions signal value collected in same collection point, first tracking direction is judged；According to the signal value and preset signals field division table along the acquisition of preliminary tracking direction, tracking to specified level field；In specified level field, beacon is tracked according to the accurate tracking direction of correlation judgement in the tracking direction determined again and beacon direction, and along accurate tracking direction.The efficiency of tracking beacon not only can be improved in foregoing invention embodiment, can also improve the precision of tracking.
Description
Technical field
The method and dress tracked the present invention relates to beacon (iBeacon) tracking technique field more particularly to a kind of iBeacon
It sets.
Background technique
With the fast development of the communication technology, iBeacon is widely used on communication equipment.The work side of iBeacon
Formula is to send oneself distinctive ID to surrounding using BLE technology equipped with the equipment of low-power consumption bluetooth (BLE) communication function, connect
The application software or equipment for receiving the ID can execute corresponding operating according to the ID.For example, the iBeacon communication module in shop
Coupons and integral certificate are pushed to bluetooth cellular phone.
Applicant it has been investigated that: trigger device of the iBeacon as positioning and information push, working condition and position
Accuracy it is extremely important.In order to improve iBeacon positioning accuracy, a set of effective inspection mechanism is needed.And detect signal
It is the basis of inspection with the tracking position iBeacon.The device tracking position iBeacon of detection signal needs to rely on signal strength.
In the ideal case, the attenuation of signal (Bluetooth signal of such as mainstream) is to be become according to the increase of positional distance in logarithmic decrement
Gesture.However, tracing and positioning environment would generally be extremely complex, signal can be unstable, such as human body or metal barrier also can be right
Signal produces bigger effect.These influences will lead to that signal fluctuation is larger, signal attenuation can also change greatly, therefore, when
Preceding tracking iBeacon often selects the direction of mistake, and tracking efficiency is lower, and tracking precision is also poor.
The tracking efficiency and tracking precision for how improving the signal of tracking iBeacon, become technical problem urgently to be resolved.
Summary of the invention
At least one of to solve the above-mentioned problems, the embodiment of the invention provides the methods and dress of a kind of tracking of beacon
It sets.
In a first aspect, providing a kind of method of beacon tracking.Method includes the following steps:
In beacon tracing process, the signal value of beacon is acquired；
According to the different directions signal value collected in same collection point, first tracking direction is judged；
Table is divided with preset signals field according to the signal value along the acquisition of preliminary tracking direction, tracking to specified level is led
Domain；
In specified level field, according to the accurate tracking of correlation judgement in the tracking direction determined again and beacon direction
Direction, and beacon is tracked along accurate tracking direction.
Second aspect provides a kind of device of beacon tracking.The device includes:
Signal acquisition module, for acquiring the signal value of beacon in beacon tracing process；
Beacon tracing module, for according to the different directions signal value collected in same collection point, judgement to chase after for the first time
Track direction；According to the signal value and preset signals field division table along the acquisition of preliminary tracking direction, tracking to specified level field；
In specified level field, according to the accurate tracking direction of correlation judgement in the tracking direction determined again and beacon direction, and
Beacon is tracked along accurate tracking direction.
The third aspect provides a kind of device of beacon tracking.The device includes:
Memory, for storing program；
Processor, for executing the program of the memory storage, it is above-mentioned each that described program executes the processor
Method described in aspect.
Fourth aspect provides a kind of computer readable storage medium.Finger is stored in the computer readable storage medium
It enables, when run on a computer, so that computer executes method described in above-mentioned various aspects.
5th aspect, provides a kind of computer program product comprising instruction.When the product is run on computers,
So that computer executes method described in above-mentioned various aspects.
6th aspect, provides a kind of computer program.When the computer program is run on computers, so that calculating
Machine executes method described in above-mentioned various aspects.
On the one hand, foregoing invention example can be by acquiring the signal value of beacon in beacon tracing process；According to same
The different directions of one collection point signal value collected judges first tracking direction, it is possible to reduce direction in blindness tracing process
Adjustment number, not only can be improved tracking beacon efficiency, can also improve tracking beacon precision.
It on the other hand, can be according to the signal value and preset signals field division table along the acquisition of preliminary tracking direction, tracking
The problem of trace regions, can be contracted to specified level field by extremely specified level field, can be to avoid tracking anisotropy, into
One step improves the efficiency of tracking beacon and the precision of tracking beacon.
Another aspect, can be related to beacon direction according to the tracking direction determined again in specified level field
Property the accurate tracking direction of judgement, and track beacon along accurate tracking direction, can raising tracking beacon again precision.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow diagram of the method for the beacon tracking of one embodiment of the invention；
Fig. 2 is the flow diagram of the method for the signal acquisition of one embodiment of the invention；
Fig. 3 is the flow diagram in the first tracking direction of judgement of one embodiment of the invention；
Fig. 4 is the tracking of one embodiment of the invention to the guidance schematic diagram in specified level field；
Fig. 5 is that direction mode matching flow diagram is accurately tracked in the determination of one embodiment of the invention；
Fig. 6 is the schematic diagram that the directional dependency accurately tracked is determined in Fig. 5；
Fig. 7 is the schematic diagram of pattern match in Fig. 5；
Fig. 8 is the structural schematic diagram of the device of the beacon tracking of one embodiment of the invention；
Fig. 9 is the block schematic illustration of the device of the beacon tracking of one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the flow diagram of the method for the beacon tracking of one embodiment of the invention.
As shown in Figure 1, method includes the following steps:
S110 acquires the signal value of beacon in beacon tracing process.
S120 judges first tracking direction according to the different directions signal value collected in same collection point.
S130, according to the signal value and preset signals field division table along the acquisition of preliminary tracking direction, tracking to designated layer
Grade field.
S140 judges essence according to the correlation in the tracking direction determined again and beacon direction in specified level field
Really tracking direction, and beacon is tracked along accurate tracking direction.
In the present embodiment, the equipment or device that acquire beacon signal can use the device of the reception signal of profession,
It can also be using the electronic equipment for supporting Bluetooth protocol.Because overwhelming majority smart phone supports low-power consumption bluetooth agreement at present,
So the mobile phone that pursuer carries can very easily collect the signal of beacon.Below by taking mobile phone acquires signal as an example,
Illustrate the implementation of signal acquisition.
In the present embodiment, the exploitation environment for supporting mobile phone can be built first.Wherein, exploitation environmental structure may include
Two component environments.One is the hardware environment (such as Samsung Galaxy Note4 mobile phone environment) for supporting 4.0 agreement of bluetooth.It is another
A is the software environment (such as ADT23.0.6, IntelliJ IDEA and JDK1.7.0) for supporting Android application research and development.Hereafter, it tracks
Person can determine tracking direction according to the collected signal value of the mobile phone in tracing process under the exploitation environment.It is tracking
On the way, pursuer can be guided constantly to change tracking direction, with fast track to target iBeacon.Below gradually to above-mentioned
Each step is described in detail.
Fig. 2 is the flow diagram of the method for the signal acquisition of one embodiment of the invention.
As shown in Fig. 2, in beacon tracing process, the signal value (i.e. in Fig. 1 step S110) for acquiring beacon may include:
S111 starts to track.
Pursuer's carrying mobile phone enters in trace regions (such as in shop), and mobile phone acquisition signal starts.
S112, mobile phone start to scan the signal of iBeacon.
S113, judges whether mobile phone stops scanning the signal of iBeacon.
S114, when mobile phone does not stop scanning the signal of iBeacon, then the received signal intensity for obtaining iBeacon refers to
Show (Received Signal Strength Indication, RSSI) value.
The RSSI of S115, the iBeacon that mobile phone will acquire are reported to the application layer of mobile phone, until mobile phone stops scanning.
S116, when mobile phone stops scanning, mobile phone scanning stops.
S117, mobile phone signal acquisition terminate (END).
In the present embodiment, after mobile phone starts to scan the signal of iBeacon, waiting stops scan event.If
Stop scan event having occurred, then stops the signal for scanning iBeacon, the end of scan；Otherwise (stop scan event not occurring)
The epicycle end of scan is waited, and obtains all beacon RSSI scanned.Then by the signal reporting scanned to gaussian filtering
Module (for being filtered to the signal scanned), while entering next wheel scan.Pass through mode shown in Fig. 2, mobile phone as a result,
The RSSI value of iBeacon around it can be periodically acquired, and transmits sample of signal to upper layer (application layer of mobile phone), so that chasing after
Track person is easy to operate.
In some embodiments, the method for beacon tracking can also filter out environment including the use of the mode of gaussian filtering
Influence to signal, and to the filtered signal value of upper layer transfers.For example, the available letter acquired in beacon tracing process
Number value；Predetermined probabilities sample is chosen from the signal value of acquisition, the predetermined probabilities sample progress geometric average of selection is obtained can
Believe signal value；Trusted signal's value is transferred to beacon tracing module to track beacon.Specifically, the available RSSI scanned
Sample chooses high probability sample.By many experiments, the sample by probability greater than 0.6 is determined as sample with a high credibility.Such as,
The higher sample of confidence level is subjected to geometric average calculating, available credible RSSI.Finally reporting (can track mould to beacon
Block reports) data, and continue waiting for the beacon RSSI of lower scan cycle.Specifically, the implementation of gaussian filtering can wrap
Include following steps:
S101 prepares to start.
S102 judges whether there is filtering processing instruction and occurs.When there is filtering processing instruction, turns S103, otherwise return
Whether S102, rejudging has filtering processing instruction to occur.
S103 obtains the RSSI sample of iBeacon when there is filtering processing instruction.
S104 chooses high probability sample in the RSSI sample for obtaining iBeacon.
High probability sample geometric average is obtained believable RSSI by S105.
S106, the believable RSSI reported.
In some embodiments, the method for beacon tracking can also include: that search obtains beacon list, out of beacon list
Select the beacon of tracking；Show one of following information or two or more: the signal value of beacon, the maximum value of beacon, letter
Level field where marking.For example, the iBeacon list scanned can be provided during tracking iBeacon, it is convenient
User's selection target, is tracked.Specifically, the implementation of selection search routine may comprise steps of:
S201 prepares to start.
S202, judges whether this wheel scan terminates, and when the epicycle end of scan, turns S203, otherwise returns to S202, sentence again
Whether this wheel scan that breaks terminates.
S203 obtains iBeacon list.
S204 judges whether selection target iBeacon.As selection target iBeacon, turns S205, otherwise returns to S204,
Rejudge whether selection target iBeacon.
S205 records the RSSI of the target iBeacon of selection as selection target iBeacon.
S206, the more MAC Address of fresh target iBeacon.
In some embodiments, during tracking iBeacon, RSSI real-time display function can also be provided and (facilitate use
Family, which understands, receives signal strength or weakness).Specifically, the epicycle end of scan can be waited first, the credible RSSI of target iBeacon is obtained
Value, updates current RSSI signal value, while updating corresponding real-time RSSI and showing.Specifically, the realization side of real-time display RSSI
Formula may comprise steps of:
S301 prepares to start.
S302, judges whether this wheel scan terminates, and when the epicycle end of scan, turns S303, otherwise returns to S302, sentence again
Whether this wheel scan that breaks terminates.
S303 obtains the RSSI of target iBeacon.
S304, the RSSI for the target iBeacon that real-time update obtains.
Foregoing invention embodiment can be according to iBeacon existing around automatically scanning as a result, and returns in the form of a list
Back to user, user's selection target is facilitated to track, key message needed for tracking shows user, and operation interface is very friendly,
And easily interaction.
Fig. 3 is the flow diagram in the first tracking direction of judgement of one embodiment of the invention.
As shown in figure 3, judging first tracking direction according to the different directions signal value collected in same collection point
Step (i.e. in Fig. 1 step S120) may include following sub-step:
S121, different directions (pursuer can be turn-taked with original place determines different directions) acquisition beacon in same collection point
Signal value.
S122 compares the corresponding signal value of different directions, obtains maximum signal value.
S123 obtains the corresponding direction of maximum signal value.
Maximum signal value corresponding direction is determined as tracking direction for the first time by S124.
In the present embodiment, user's carrying mobile phone tracks iBeacon.Influence due to human body to signal is very big, especially
When being back to iBeacon packet loss greatly, signal value it is weaker.Therefore turn-taked by original place, and find out turn-take during signal is weak, loses
The big direction of packet rate can be determined as the opposite direction of target iBeacon.For example, firstly, pursuer can be randomly selected in letter
Starting point in number coverage area, acquires the RSSI of the surrounding, and count packet loss respectively.Then this surrounding packet loss is chosen
The maximum direction A of rate.The smallest point C of this surrounding RSSI value is chosen again.Whether in direction a to judge point C.As fruit dot C whether
In direction a, then confirm that target iBeacon on the opposite direction B of direction A, is otherwise looped to determine into next.
In the present embodiment, due east, due south, due west and due north four direction can also be selected first, each look onto this four
A direction samples 100 (number can be with flexible setting) signal values, then calculates four direction by gaussian filtering module
Believable RSSI, using the maximum direction believable RSSI as blur direction.
Above-described embodiment can use the characteristics of human body is blocked to signal by larger impact as a result, to judge target place
General direction, blur direction arbitration functions are provided, user is facilitated to determine the general orientation of target.
Referring to Fig. 1, in step s 130, divided according to the signal value along the acquisition of preliminary tracking direction with preset signals field
Table, tracking to the step of specified level field may include following sub-step:
S131, by the signal value of the beacon acquired along preliminary tracking direction compared with preset signals field division table.
S132 judges whether to have tracked to specified level field according to comparison result.
S133 enters specified level field when not tracking also to specified level field by the way of gradually approaching.
It is under normal conditions visible area within the scope of 1 meter, but target iBeacon transmission power is unknown, therefore can not pass through survey
RSSI is measured to determine whether reaching discovery region.It in the present embodiment, through a large number of experiments, can be by being in advance based on difference
The level field of power signal characteristic setting, assistance judge whether to enter certain layer of field or find region.
For seven kinds of setting power of iBeacon routine, respectively in all directions four direction, at beacon 1m, greatly
Amount acquisition signal value, takes maximum RSSI therein, obtains preset signals field division table.Division table in preset signals field can wrap
It includes: the mapping table of maximum value in specified level field and signal value.For example, the table can be 7 layers of field table, such as table (1)
It is shown:
Table (1)
In above-mentioned table (1), when the power (Power) of iBeacon is -20db, the maximum value (Max) of RSSI -
Between the range of 71db to -66db, the field pursuer entrance -20F (Field).When the Power of iBeacon is -16db,
The Max value of RSSI is between the range of -66db to -63db, the field pursuer entrance -16F (Field).When the power of iBeacon
(Power) when being -12db, the Max value of RSSI is between the range of -63db to -57db, the field pursuer entrance -12F
(Field).When the power (Power) of iBeacon is -8db, the Max value of RSSI chases after between the range of -57db to -55db
The track field person entrance -8F (Field).When the power (Power) of iBeacon is -4db, the Max value of RSSI -55db to -
Between the range of 47db, the field pursuer entrance -4F (Field).When the power (Power) of iBeacon is -0db, RSSI's
For Max value between the range of -47db to -45db, pursuer enters the field 0F (Field).When the power (Power) of iBeacon
When for 4db, the Max value of RSSI is -45db, and pursuer enters the field 4F (Field).
In tracing process, according to collected RSSI, field level corresponding with table (1) calculating is estimated and target
Approximate distance obtains the tracking state of active user so as to avoid signal ranging bring error.
In some embodiments, during tracking iBeacon, maximum value display function can also be provided and (facilitate user
It finds signal value and reaches maximum position).Specifically, the implementation that maximum RSSI is shown may comprise steps of:
S401 prepares to start.
S402 creates maximum RSSI variable, and is initialized with -120db.
S403, judges whether this wheel scan terminates, and when the epicycle end of scan, turns S404, otherwise returns to S403, sentence again
Whether this wheel scan that breaks terminates.
S404 obtains new RSSI value, and by the RSSI value newly obtained compared with greatest rssi value.
S405 updates greatest rssi value, shows current greatest rssi value, jump to S403 again later.
In some embodiments, during tracking iBeacon, tracking status display function can also be provided and (facilitate use
The distance of family understanding current distance target).Specifically, the implementation of tracking status display may comprise steps of:
S501 prepares to start.
S502, judges whether this wheel scan terminates, and when the epicycle end of scan, turns S503, otherwise returns to S502, sentence again
Whether this wheel scan that breaks terminates.
S503 obtains the RSSI value of target iBeacon.
Compared with the RSSI value of S504, the target iBeacon that the will acquire RSSI value inner with field table (table (1)), obtains and work as
The corresponding field of preceding credible RSSI value.
S505 updates corresponding tracking status display.
Fig. 4 is the tracking of one embodiment of the invention to the guidance schematic diagram in specified level field.
In the present embodiment, because Power is that -20db is relatively conventional, it is with the iBeacon that Power is -20db
Example illustrates the implementation of tracking to the field -20F, it will be understood that the equally applicable this method of the Power of other data.
The present embodiment can be by the maximum value that constantly looks for scanning in pursuer's run trace, and at maximum of points
Vertical line is done as new run trace, the seeking scope of iBeacon is reduced with this, makes surveyor in constantly walk test
Enter correctly into the field -20db of iBeacon.
In the present embodiment, the step of specified level field is entered by the way of gradually approaching (i.e. above-mentioned S133 step)
May include following sub-step:
S1331 tracks beacon along preset direction, the collection point of no signal is determined as first boundary point.
S1332, the opposite direction along preset direction track beacon, the collection point of no signal are determined as second boundary point.
S1333 obtains the maximum extreme value collection point of signal value between first boundary point and second boundary point.
S1334, via extreme value collection point, along with first boundary point and the perpendicular first direction of second boundary point line
Track beacon, and the signal value during recording, tracking.
S1335, when there are signals in the tracing process along first direction, it is specified to divide table entrance according to preset signals field
Level field.
S1336 refers to when signal is not present in the tracing process along first direction along entering in the opposite direction with first party
Given layer grade field.
As shown in figure 4, establishing by x-axis, due east direction of direct north is the two-dimensional coordinate system of y-axis.Assuming that pursuer position
At origin o, iBeacon is located at A point, and wherein the coverage area of iBeacon is the circle using A as the center of circle, R for radius.iBeacon
Discovery region (field -20db) be circle using A as the center of circle, r for radius.In such a way that field is approached by user introduce to-
Implementation in the field 20db can specifically include:
S1, pursuer's (carrying mobile phone) record on the way from o along any direction (being in 1 angle of θ with x-axis) walking
The RSSI of iBeacon.
S2, if mobile phone searches the boundary N1 point for the radiation scope for reaching iBeacon less than signal.
S3 walks along θ 1+ π angle (i.e. opposite direction) from N1, records RSSI on the way.
S4, if mobile phone searches the boundary M1 point for the radiation scope for reaching iBeacon less than signal.
S5 takes the corresponding point C of maximum value of N1M1 (L) in RSSI to be on the way used as in last walking process most from A
Close point.
Otherwise S6 crosses the vertical line that C is L if terminated in the field -20db with reference to above-mentioned table (1) discovery point C.
S7, using point C as new tracking starting point, vertical line becomes as new route track route, i.e. angle, θ 1(along 2 direction direction θ) walking, records the RSSI of iBeacon on the way.
S8, circulation execute above-mentioned steps, until in the field entrance -20db.
In the present embodiment, blur direction can be first obtained, and straight line is walked in the direction, records the maximum of appearance on the way
RSSI；Then according to above-mentioned table (1), whether judgement is current enters the field -20db；If terminating if, otherwise to obtain most
The position of big RSSI is starting point, and then edge is walked perpendicular to former direction straight line, enters circulation later, records appearance on the way again
Maximum RSSI, then rejudge and whether enter field.
Referring to Fig. 1, in specified level field, determined according to the correlation in the tracking direction determined again and beacon direction
The step of accurate tracking direction (step S140) may include following sub-step:
First tracking point is confirmed as determining again by S141 in specified level field to the direction of the second tracking point
Track direction.
S142 acquires the first signal value of the first tracking point and the second signal value of the second tracking point.
S143 determines that tracking direction determining again is and beacon direction when the first signal value is less than second signal value
With positive correlation.
S144 determines that tracking direction is with beacon direction with negative again when the first signal value is greater than second signal value
Correlation.
S145, the direction adjustment tracking direction determined according to negative correlation, obtains the direction with positive correlation.
S146 determines that tracking direction is to have not with beacon direction again when the first signal value is equal to second signal value
Correlation.
S147, the direction adjustment tracking direction determined according to irrelevance, obtains the direction with positive correlation.
S144 determines accurate tracking direction according to the direction that positive correlation determines.
Fig. 5 is that direction mode matching flow diagram is accurately tracked in the determination of one embodiment of the invention.
In this example, it is assumed that user behind the field entrance -20db, by way of A, B two o'clock, adopts in the two places respectively
Sample 100 times (can flexibly change), then their gaussian filtering value RSS (A) and RSS (B) are asked, according to their size determination side
To the correlation of AB.As shown in figure 5, determining that the implementation of accurate tracking direction mode matching process can be as follows:
S510, pursuer track beacon from A point to B point direction (current tracking direction is the direction AB).
Such as.Application layer (mobile phone application layer) is waited to issue acquisition, then respectively in A point and B point continuous sampling 100
It is secondary.
The signal value acquired in A point is obtained signal value RSS (A) by filtering by S520.The signal value that will be acquired in B point
Signal value RSS (B) is obtained by filtering.
S530 waits application layer to issue pattern match order, compares the size of RSS (A) Yu RSS (B), obtain the direction side AB
To the correlation of (currently tracking direction) and beacon direction to be tracked, and updates corresponding correlation and show.
In the present embodiment, the correlation in direction may include: positive correlation, negative correlation or this uncorrelated 3 kinds of situations.When
When RSS (A) > RSS (B), it may be said that it is bright more and more remoter from the beacon of tracking, it is thus determined that the direction AB has negative correlation；When
When RSS (A) < RSS (B), it may be said that it is bright more and more closer from the beacon of tracking, it is thus determined that the direction AB has positive correlation；When
When RSS (A)=RSS (B), it may be said that the bright beacon from tracking does not change temporarily, it is thus determined that the direction AB has irrelevance.
Fig. 6 is the schematic diagram that the directional dependency accurately tracked is determined in Fig. 5.
In the present embodiment, search range can gradually be reduced according to the direction with positive correlation, determines accurate tracking
Direction.
As shown in Figure 6, it is assumed that pursuer current location point is A point, the upper right of the location point of beacon to be tracked in Fig. 5
Side.Assuming that pursuer tracks beacon by the direction of AB1, AB2 or AB3.
When the direction of AB1 and beacon direction (A to the direction of beacon) are at an acute angle, then where direction AB1 and beacon
Direction has positive correlation (illustrating to track in the right direction).When direction and the beacon direction (A to the direction of beacon) of AB3 are in
When obtuse angle, then direction AB1 and beacon direction have negative correlation (illustrating to track poor direction).When AB3 direction with
When beacon direction (A to the direction of beacon) is rectangular, then direction AB1 and beacon direction have irrelevance (explanation
Track poor direction).
Fig. 7 is the schematic diagram of pattern match in Fig. 5.
Such as Fig. 7, by first time pattern match, the search range of full circle (is become semicircle by the range that can reduce half
Search range).By second of pattern match, the search range of semicircle (is become 45 degree by the range that can reduce half again
Fan-shaped search range).By third time pattern match, the range that can reduce half again (will be for 45 degree of fan-shaped search models
Enclosing becomes 22.5 degree of fan-shaped search ranges).It is obtained by many experiments, can accurately be determined by 3 pattern match
The position of iBeacon.
In the present embodiment, after taking full advantage of the field entrance -20db, the signal feature obvious with distance change is used
Two points of thought gradually reduces target location.When the number Jing Guo pattern match is more, search range will be more accurate.
Because in the ideal case, the decaying of Bluetooth signal is in logarithmic decrement, and to effect of signals it is biggish because
Element, such as metal, human body etc..Foregoing invention embodiment can be made a set of effective according to Bluetooth signal feature as a result,
IBeacon method for tracing.The method for tracing may have the advantage that
1, it tracks high-efficient.Pursuer tracks target from the off, and until finding target, the distance walked is
Tracking efficiency can be measured.And gained distance is at a distance from starting point to target position, tracking system can be obtained by being compared to each other
The efficiency of system.Through a large number of experiments, show that present invention tracking target whole process travel distance and starting point arrive target position
Range difference is minimum up to 3 meters no more than 34 meters.
2, tracking precision is high.By the linear distance of physical location where statistical theory position and beacon, as final assessment
The foundation of precision.Through a large number of experiments, minimum 2 meters of tracking precision of the invention, up to 0.5 meter are obtained.
3, easy to operate using simple.Specifically using signal acquisition module and filtering processing module, target is automatically extracted
IBeacon RSSI value, and be filtered, it is not necessarily to user intervention；Also include simultaneously tracing module, instructs user tracking target
iBeacon。
4, friendly interface, easily interaction.The present invention includes selection search module, existing iBeacon around automatically scanning,
And user is returned in the form of a list, facilitate user's selection target to track；Display module, key message needed for tracking are shown
To user.
It should be noted that in the absence of conflict, those skilled in the art can according to actual needs will be above-mentioned
The sequence of operating procedure is adjusted flexibly, or above-mentioned steps are carried out the operation such as flexible combination.For simplicity, repeating no more
Various implementations.In addition, the content of each embodiment can mutual reference.
Fig. 8 is the structural schematic diagram of the device of the beacon tracking of one embodiment of the invention.
As shown in figure 8, the device of beacon tracking may include: signal acquisition module 100, gaussian filtering module 200 and letter
Mark tracing module 300.Wherein, beacon tracing module 300 may include: selection search unit 310, mux --out signal exhibits unit 320, mould
Paste walking direction unit 330, field approximation unit 340 and accurate walking direction unit 350.
It is appreciated that above-mentioned modules and unit can be carried out flexibly by specific requirements under different application environments
Setting.For example, gaussian filtering module 200 can be saved in the case where required precision is less high.It is wanted in search interface friendly
In the case where asking low, selection search unit 310 and mux --out signal exhibits unit 320 also can be omitted.
In some embodiments, signal acquisition module 100 can be used in beacon tracing process, acquire the signal of beacon
Value；Gaussian filtering module 200 can be used for obtaining the signal value of signal acquisition module acquisition, choose from the signal value of acquisition pre-
If probability sample, the predetermined probabilities sample of selection is subjected to geometric average and obtains trusted signal's value, trusted signal's value is transferred to
Beacon tracing module is to track beacon.Beacon tracing module 300 can be used for basis and be adopted in the different directions of same collection point
The signal value of collection judges first tracking direction；It is divided according to the signal value along the acquisition of preliminary tracking direction with preset signals field
Table, tracking to specified level field；It is related to beacon direction according to the tracking direction determined again in specified level field
Property the accurate tracking direction of judgement, and track beacon along accurate tracking direction.
In some embodiments, selection search module 310, which can be used for searching for, obtains beacon list, selects out of beacon list
Select the beacon of tracking；Mux --out signal exhibits module 320 is displayed for one of following information or two or more: the letter of beacon
Level field where number value, the maximum value of beacon, beacon.Blur direction judging unit 330 can be used for basis and adopt same
The signal value for collecting the different directions beacon collected of point judges first tracking direction；Field approximation unit 340 can be used for by
The signal value of the beacon acquired along preliminary tracking direction judges whether compared with preset signals field division table according to comparison result
It has tracked to specified level field；When not tracking also to specified level field, designated layer is entered by the way of gradually approaching
Grade field；Accurate walking direction unit 350 can be used in specified level field, according to tracking direction determining again and letter
The accurate tracking direction of correlation judgement in direction is marked, and tracks beacon along accurate tracking direction.
In some embodiments, field approximation unit 340 can be also used for: beacon be tracked along preset direction, by no signal
Collection point be determined as first boundary point；Opposite direction along preset direction tracks beacon, and the collection point of no signal is determined as the
Two boundary points；Obtain the maximum extreme value collection point of signal value between first boundary point and second boundary point；Via extreme value collection point,
Beacon, and the letter during recording, tracking are tracked along with the perpendicular first direction of first boundary point and second boundary point line
Number value；When there are signals in the tracing process along first direction, according to the specified level field of preset signals field division table entrance.
In some embodiments, field approximation unit 340 can be also used for: when not depositing in the tracing process along first direction
In signal, level field is specified along entering in the opposite direction with first party.
In some embodiments, blur direction judging unit 330 can be also used for: the different directions in same collection point are adopted
Collect the signal value of beacon；Compare the corresponding signal value of different directions, obtains the smallest signal value；It is corresponding to obtain the smallest signal value
Direction；The opposite direction of the smallest signal value corresponding direction is determined as to track direction for the first time.
In some embodiments, preset signals field division table includes: maximum value in specified level field and signal value
Mapping table.It is specifically as follows above-mentioned table (1)
In some embodiments, accurate walking direction unit 350 can be also used for: in specified level field, by first
Tracking point is confirmed as the tracking direction determined again to the direction of the second tracking point；Acquire the first tracking point the first signal value and
The second signal value of second tracking point；When the first signal value is less than second signal value, determine that tracking direction determining again is
There is positive correlation with beacon direction；According to the direction that positive correlation determines, accurate tracking direction is determined.
In some embodiments, accurate walking direction unit 350 can be also used for: when the first signal value is greater than second signal
When value, determine that tracking direction is to have negative correlation with beacon direction again；Tracking is adjusted according to the direction that negative correlation determines
Direction obtains the direction with positive correlation.Alternatively, determining tracking side again when the first signal value is equal to second signal value
To for beacon direction have irrelevance；The direction adjustment tracking direction determined according to irrelevance, obtains having positive correlation
The direction of property.
In some embodiments, accurate walking direction unit 350 can be also used for: according to the direction with positive correlation,
Search range is gradually reduced, determines accurate tracking direction.
It should be noted that the device of the various embodiments described above can be used as the method for each embodiment of the various embodiments described above
In executing subject, the corresponding process in each method may be implemented, realize identical technical effect, for sake of simplicity, in this respect
Content repeats no more.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program
Product includes one or more computer instructions, when run on a computer, so that computer executes above-mentioned each implementation
Method described in example.When loading on computers and executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL))
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission.The computer readable storage medium can be any usable medium that computer can access or include one or
The data storage devices such as multiple usable mediums integrated server, data center.The usable medium can be magnetic medium,
(for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State
Disk (SSD)) etc..
Fig. 9 is the block schematic illustration of the device of the beacon tracking of one embodiment of the invention.
It, can be according to being stored in read-only storage as shown in figure 9, the frame may include central processing unit (CPU) 901
Program in device (ROM) 902 is executed from the program that storage section 908 is loaded into random access storage device (RAM) 903
The various operations that Fig. 1, Fig. 2 and Fig. 3 embodiment are done.In RAM903, various journeys needed for being also stored with system architecture operation
Sequence and data.CPU 901, ROM 902 and RAM 903 are connected with each other by bus 904.Input/output (I/O) interface 905
It is also connected to bus 904.
I/O interface 905 is connected to lower component: the importation 906 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 907 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 908 including hard disk etc.；
And the communications portion 909 of the network interface card including LAN card, modem etc..Communications portion 909 via such as because
The network of spy's net executes communication process.Driver 910 is also connected to I/O interface 905 as needed.Detachable media 911, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 910, in order to read from thereon
Computer program be mounted into storage section 908 as needed.
Particularly, according to an embodiment of the invention, may be implemented as computer above with reference to the process of flow chart description
Software program.For example, the embodiment of the present invention includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 909, and/or from removable
Medium 911 is unloaded to be mounted.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of method of beacon tracking, which comprises the following steps:
In beacon tracing process, the signal value of the beacon is acquired；
According to the different directions signal value collected in same collection point, first tracking direction is judged；
According to the signal value and preset signals field division table along the preliminary tracking direction acquisition, tracks to specified level and lead
Domain；
In the specified level field, according to the accurate tracking of correlation judgement in the tracking direction determined again and beacon direction
Direction, and the beacon is tracked along the accurate tracking direction.
2. the method according to claim 1, wherein according to along it is described it is preliminary tracking direction acquisition signal value with
Preset signals field divides table, tracking to specified level field, comprising:
By the signal value of the beacon acquired along the preliminary tracking direction compared with preset signals field division table；
Judge whether to have tracked to specified level field according to comparison result；
When not tracking also to the specified level field, the specified level field is entered by the way of gradually approaching.
3. according to the method described in claim 2, it is characterized in that, described enter the designated layer by the way of gradually approaching
Grade field, comprising:
The beacon is tracked along preset direction, the collection point of no signal is determined as first boundary point；
Opposite direction along the preset direction tracks the beacon, and the collection point of no signal is determined as second boundary point；
Obtain the maximum extreme value collection point of signal value between the first boundary point and the second boundary point；
Via the extreme value collection point, along with the first boundary point and the perpendicular first party of the second boundary point line
To tracking the beacon, and the signal value during recording, tracking；
When there are signal, dividing table in the tracing process along the first direction according to the preset signals field and enter the finger
Given layer grade field；
When there is no signals in the tracing process along the first direction, described in direction entrance opposite to the first direction
Specified level field.
4. the method according to claim 1, wherein different directions of the basis in same collection point are acquired
Beacon signal value, determine first tracking direction, comprising:
Different directions in same collection point acquire the signal value of the beacon；
Compare the corresponding signal value of different directions, obtains the smallest signal value；
Obtain the corresponding minimum value direction of the smallest signal value；
The opposite direction in the minimum value direction is determined as the first tracking direction.
5. the method according to claim 1, wherein the preset signals field division table includes:
The mapping table of maximum value in the specified level field and the signal value.
6. the method according to claim 1, wherein in the specified level field, according to what is determined again
The correlation for tracking direction and beacon direction determines accurate tracking direction, comprising:
In the specified level field, the first tracking point is confirmed as chasing after for the determination again to the direction of the second tracking point
Track direction；
Acquire the first signal value of first tracking point and the second signal value of second tracking point；
When first signal value is less than the second signal value, determine that the determining tracking direction again is and the letter
Marking direction has positive correlation；
According to the direction that the positive correlation determines, the accurate tracking direction is determined.
7. according to the method described in claim 6, it is characterized by further comprising:
When first signal value is greater than the second signal value, determine that the direction of tracking again is and the beacon direction
With negative correlation；
The direction adjustment tracking direction determined according to the negative correlation, obtains the direction with the positive correlation；
Alternatively,
When first signal value is equal to the second signal value, determine that the direction of tracking again is and the beacon direction
With irrelevance；
The direction adjustment tracking direction determined according to the irrelevance, obtains the direction with the positive correlation；
According to the direction with the positive correlation, search range is gradually reduced, determines the accurate tracking direction.
8. according to right want any one of 1-7 described in method, which is characterized in that further include:
Obtain the signal value acquired in beacon tracing process；
Predetermined probabilities sample is chosen from the signal value of acquisition, the predetermined probabilities sample progress geometric average of selection is obtained credible
Signal value；
Trusted signal's value is transferred to the beacon tracing module to track the beacon.
9. according to right want any one of 1-7 described in method, which is characterized in that further include:
Search obtains beacon list, and the beacon of tracking is selected out of described beacon list；
Show one of following information or two or more: the signal value of the beacon, the maximum value of the beacon, the letter
Level field where marking.
10. a kind of device of beacon tracking characterized by comprising
Signal acquisition module, for acquiring the signal value of the beacon in beacon tracing process；
Beacon tracing module, for judging first tracking side according to the different directions signal value collected in same collection point
To；According to the signal value and preset signals field division table along the preliminary tracking direction acquisition, tracking to specified level field；
In the specified level field, accurate tracking side is judged according to the correlation in the tracking direction determined again and beacon direction
To, and the beacon is tracked along the accurate tracking direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908827.0A CN109246620A (en) | 2018-08-10 | 2018-08-10 | The method and apparatus of beacon tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908827.0A CN109246620A (en) | 2018-08-10 | 2018-08-10 | The method and apparatus of beacon tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109246620A true CN109246620A (en) | 2019-01-18 |
Family
ID=65070114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810908827.0A Pending CN109246620A (en) | 2018-08-10 | 2018-08-10 | The method and apparatus of beacon tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109246620A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684547A (en) * | 2013-08-30 | 2016-06-15 | 三星电子株式会社 | Wireless device searching apparatus and method in wireless communication system |
| KR20160123794A (en) * | 2015-04-17 | 2016-10-26 | 주식회사 피엘앤씨테크놀로지 | Method for providing service of tracking location using smart sensor |
| CN107830862A (en) * | 2017-10-13 | 2018-03-23 | 桂林电子科技大学 | A kind of method of the indoor positioning pedestrian tracking based on smart mobile phone |
-
2018
- 2018-08-10 CN CN201810908827.0A patent/CN109246620A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684547A (en) * | 2013-08-30 | 2016-06-15 | 三星电子株式会社 | Wireless device searching apparatus and method in wireless communication system |
| KR20160123794A (en) * | 2015-04-17 | 2016-10-26 | 주식회사 피엘앤씨테크놀로지 | Method for providing service of tracking location using smart sensor |
| CN107830862A (en) * | 2017-10-13 | 2018-03-23 | 桂林电子科技大学 | A kind of method of the indoor positioning pedestrian tracking based on smart mobile phone |
Non-Patent Citations (2)
| Title |
|---|
| 王欢欢: ""多功能iBeacon信标及追踪技术的研究与实现"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 马海锋: ""基于iBeacon的室内精确定位技术研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shu et al. | Gradient-based fingerprinting for indoor localization and tracking | |
| CN102204374B (en) | Managing a location database for network-based positioning system | |
| US9632169B2 (en) | Using inertial navigation for calibration of indoor positioning system | |
| KR101343174B1 (en) | Determining a location of a mobile device using a location database | |
| EP2382831B1 (en) | Correcting gps through secondary sensors and signal strength | |
| EP3174328B1 (en) | System and method for radio signal coverage mapping | |
| CN110719568B (en) | Indoor positioning method, device, medium and equipment | |
| EP2961231A1 (en) | Angle determining system and method | |
| CN110609308B (en) | Terminal position positioning method and device, storage medium and computer equipment | |
| WO2014159294A2 (en) | Using satellite visibility data for improved location accuracy | |
| CN104066172A (en) | Method for positioning AP in wireless local area network | |
| KR20170090957A (en) | Apparatus and method for location determining of electronic device | |
| US20170303092A1 (en) | Positioning of mobile device | |
| CN113055949A (en) | Positioning method, apparatus, device and medium | |
| CN117171595A (en) | Road generation method, device, equipment and storage medium | |
| CN109246620A (en) | The method and apparatus of beacon tracking | |
| US10557915B2 (en) | Providing an indication of a heading of a mobile device | |
| CN102884815B (en) | Determine the method and apparatus of the object in sight line | |
| Yang et al. | Research on Bluetooth AOA-based Indoor Navigation System for Hospitals | |
| Leca et al. | Crowdsensing influences and error sources in urban Wi-Fi fingerprinting positioning | |
| Pinto | Asset location using BLE technology for Industrial floor | |
| Cruz et al. | Implementation of Geofencing for Monitoring People under Home Quarantine | |
| CN117474991A (en) | SpectFormer-based Poi positioning method and device | |
| CN114543796A (en) | Outdoor positioning method, system and storage medium | |
| Quah et al. | Location cluster with nearest neighbors in signal space: An implementation in mobile service discovery and tracking |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190118 |