CN109788431B - Bluetooth positioning method, device, equipment and system based on adjacent node group - Google Patents
Bluetooth positioning method, device, equipment and system based on adjacent node group Download PDFInfo
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Abstract
The invention discloses a Bluetooth positioning method based on an adjacent node group, which comprises the following steps: acquiring the detected Bluetooth signals of a plurality of Bluetooth nodes within preset time; searching a corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; acquiring an optimal adjacent node group according to the number of the Bluetooth nodes capable of being detected with Bluetooth signals in each adjacent node group; and calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating the positioning coordinate according to the weight of the Bluetooth node. The embodiment of the invention also discloses a Bluetooth positioning device, equipment and a system based on the adjacent node group. By adopting the embodiment of the invention, the relation between the signal intensity and the actual distance does not need to be directly fitted, the accuracy and the usability are improved, the requirement of training a database by acquiring data in the early stage is eliminated, and the cost is reduced.
Description
Technical Field
The present invention relates to bluetooth positioning technologies, and in particular, to a bluetooth positioning method, apparatus, device, and system based on an adjacent node group.
Background
With the rapid development of cities, large buildings such as large underground parking lots and shopping centers are emerging continuously. In the indoor environment, it is desirable to quickly determine the location of the user and find a desired destination. The bluetooth positioning technology adopted in the prior art comprises the following two technologies, one is that the relationship between the signal intensity and the actual distance is established directly by some mapping modes such as fitting and the like after the intelligent terminal acquires the signal intensity value of the bluetooth node on line; and the other two methods are that fingerprint vector data of the intelligent terminal offline Bluetooth module are stored to obtain fingerprint-position mapping database resources during training, when the intelligent terminal offline Bluetooth module is used, the acquired fingerprint vectors are compared with each fingerprint vector in the fingerprint data resources by the intelligent terminal online module, and a reference position with higher proximity is selected as a sample position for fusion output.
However, with the first scheme, since the signal intensity is greatly influenced by environmental factors (such as temperature, humidity and physical shielding), the actual distance value calculated by the first scheme is also extremely unstable and inaccurate; for the second scheme, the sample acquisition cost is very high when the database is trained, and any indoor scene change/reparation can cause the fingerprint database in the area to be invalid, and acquisition training needs to be performed again, so that the cost is increased.
Disclosure of Invention
The embodiment of the invention aims to provide a Bluetooth positioning method, a Bluetooth positioning device, Bluetooth positioning equipment and a Bluetooth positioning system based on adjacent node groups, which do not need to directly fit the relationship between signal intensity and actual distance, improve the accuracy and the usability, avoid the requirement of acquiring a data training database at the early stage and reduce the cost.
In order to achieve the above object, an embodiment of the present invention provides a bluetooth positioning method based on an adjacent node group, including:
acquiring the detected Bluetooth signals of a plurality of Bluetooth nodes within preset time; the Bluetooth signal is greater than the preset signal intensity;
searching a corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
acquiring an optimal adjacent node group according to the number of the Bluetooth nodes capable of being detected with Bluetooth signals in each adjacent node group;
and calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating the positioning coordinate according to the weight of the Bluetooth node.
Compared with the prior art, the Bluetooth positioning method based on the adjacent node group, disclosed by the invention, comprises the steps of firstly, acquiring the detected Bluetooth signals of a plurality of Bluetooth nodes in preset time, and searching the corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; then, obtaining an optimal adjacent node group; and finally, calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating a positioning coordinate according to the weight of the Bluetooth node. The problem that the actual distance value calculated due to the influence of environmental factors is inaccurate in the prior art is solved, and the problem that the cost is increased due to the fact that data needs to be collected in the early stage is also solved.
As an improvement of the above scheme, the obtaining an optimal neighboring node group according to the number of the bluetooth nodes capable of being detected with bluetooth signals in each neighboring node group specifically includes:
acquiring the number of the Bluetooth nodes of which Bluetooth signals can be detected in each adjacent node group;
judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
if yes, acquiring the sum of signal strengths of all Bluetooth nodes, in which Bluetooth signals can be detected, in the adjacent node groups with the same number, and taking the adjacent node group with the highest sum of signal strengths as the optimal adjacent node group;
and if not, taking the adjacent node group with the highest number of the Bluetooth nodes with the detected Bluetooth signals as the optimal adjacent node group.
As an improvement of the above scheme, each of the bluetooth nodes transmits bluetooth signals with the same signal strength according to the same period.
As an improvement of the above scheme, the bluetooth node is arranged in the passable area; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area.
As an improvement of the above scheme, the calculating a location coordinate according to the weight of the bluetooth node specifically includes:
and calculating the positioning coordinate according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node.
In order to achieve the above object, an embodiment of the present invention further provides a bluetooth positioning apparatus based on an adjacent node group, including:
the signal detection unit is used for acquiring the detected Bluetooth signals of the plurality of Bluetooth nodes within preset time; the Bluetooth signal is greater than the preset signal intensity;
the adjacent node group searching unit is used for searching a corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
an optimal adjacent node group obtaining unit, configured to obtain an optimal adjacent node group according to the number of the bluetooth nodes, in each of the adjacent node groups, for which bluetooth signals can be detected;
and the positioning coordinate calculation unit is used for calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group and calculating the positioning coordinate according to the weight of the Bluetooth node.
Compared with the prior art, the Bluetooth positioning device based on the adjacent node group disclosed by the invention comprises the following steps that firstly, a signal detection unit acquires the detected Bluetooth signals of a plurality of Bluetooth nodes in preset time, and an adjacent node group searching unit searches the corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; then, the optimum adjacent node group acquisition unit acquires an optimum adjacent node group; and finally, the positioning coordinate calculation unit calculates the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculates the positioning coordinate according to the weight of the Bluetooth node. The Bluetooth positioning device based on the adjacent node group does not need to directly fit the relationship between the signal intensity and the actual distance, improves the accuracy and the usability, avoids the requirement of acquiring a data training database in the early stage, and reduces the cost.
As an improvement of the foregoing solution, the optimal neighboring node group acquisition unit is specifically configured to:
acquiring the number of the Bluetooth nodes of which Bluetooth signals can be detected in each adjacent node group;
judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
if yes, acquiring the sum of signal strengths of all Bluetooth nodes, in which Bluetooth signals can be detected, in the adjacent node groups with the same number, and taking the adjacent node group with the highest sum of signal strengths as the optimal adjacent node group;
and if not, taking the adjacent node group with the highest number of the Bluetooth nodes with the detected Bluetooth signals as the optimal adjacent node group.
As an improvement of the above scheme, the location coordinate calculation unit is configured to calculate the location coordinate according to the weight of the bluetooth node and the coordinate vector of the bluetooth node.
In order to achieve the above object, an embodiment of the present invention further provides a neighboring node group-based bluetooth positioning apparatus, which is characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the neighboring node group-based bluetooth positioning method according to any of the above embodiments.
In order to achieve the above object, an embodiment of the present invention further provides a bluetooth positioning system based on an adjacent node group, including a plurality of bluetooth nodes and a bluetooth positioning apparatus based on an adjacent node group as described in any of the above embodiments; wherein the content of the first and second substances,
the Bluetooth node is arranged in the passable area; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area; and each Bluetooth node sends Bluetooth signals with the same signal strength according to the same period.
Drawings
Fig. 1 is a flowchart of a bluetooth positioning method based on a neighboring node group according to an embodiment of the present invention;
fig. 2 is a flowchart of step S3 in a method for bluetooth positioning based on a neighboring node group according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a bluetooth positioning apparatus 10 based on a neighboring node group according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a bluetooth positioning apparatus 20 based on a neighboring node group according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a bluetooth positioning system 30 based on a neighboring node group according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a flowchart of a bluetooth positioning method according to an embodiment of the present invention; the method comprises the following steps:
s1, acquiring the detected Bluetooth signals of a plurality of Bluetooth nodes within preset time; the Bluetooth signal is greater than the preset signal intensity;
s2, searching a corresponding pre-divided adjacent node group according to the detected Bluetooth signal of each Bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
s3, acquiring an optimal adjacent node group according to the number of the Bluetooth nodes capable of being detected with Bluetooth signals in each adjacent node group;
s4, calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating the positioning coordinate according to the weight of the Bluetooth node.
It should be noted that the bluetooth positioning method based on the adjacent node group according to the embodiment of the present invention may be implemented by a mobile terminal, and the mobile terminal may be a mobile phone, a tablet computer, or another mobile terminal capable of implementing a positioning function. In the embodiment of the invention, a plurality of Bluetooth nodes are arranged in a certain passable area and used for transmitting Bluetooth signals, each Bluetooth node transmits signals according to the same periodicity, and the transmitted signals have equal strength; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area. When a user holds the mobile terminal by hand and enters the signal range of the Bluetooth node, the positioning function can be started to be realized.
The effective radius of coverage of the bluetooth module of chooseing for use is 10 meters, and intensity is more stable along with the rule of distance decay in the within range of m (m is 5), and if the distance exceeds the scope, the precision of distinguishing of distance will reduce. For realizing the location of the precision for the meter level, arrange bluetooth module on 4 summits in the big square region of 25 square meters, when expanding the location area, only need expand a plurality of squares according to unilateral coincidence mode. For each node, other nodes in a plurality of unit squares (up to four) which participate in the formation are recorded and stored together as a neighboring node group. Thus, within the feasible area planned in advance, four bluetooth nodes can cover each square area with the size of 25 square meters. If the area of the communication area is less than 25 square meters, the minimum distance m between the Bluetooth nodes can be properly adjusted, so that the Bluetooth nodes are uniformly distributed on the periphery as much as possible to wrap the core area.
Specifically, in step S1, bluetooth signals of a plurality of detected bluetooth nodes are acquired within a preset time; the Bluetooth signal is greater than the preset signal intensity; preferably, the preset time may be 2 s. When the positioning program is started, the Bluetooth nodes enter an area covered by the Bluetooth nodes, firstly, the signal intensity of a plurality of Bluetooth nodes collected in the latest 2s is counted, and the Bluetooth nodes with the signal intensity larger than the preset signal intensity are screened out.
Specifically, in step S2, according to the detected bluetooth signal of each bluetooth node, a corresponding pre-divided adjacent node group is searched; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes. After the Bluetooth nodes are arranged, each independent node is taken as a central node, and the adjacent Bluetooth nodes are counted and classified into the adjacent node group.
Specifically, in step S3, the neighboring node group corresponding to the area where the mobile terminal is located has a higher probability of being detected by the bluetooth receiver of the mobile terminal, and because of the close distance, the loss of bluetooth strength is also less. Aiming at the hypothesis, for each Bluetooth node which acquires the signal, checking whether other nodes in the corresponding adjacent node group are detected by the mobile phone at the same time, and calculating the number of the detected Bluetooth nodes. At this time, referring to fig. 2, the step S3 specifically includes:
s31, acquiring the number of the Bluetooth nodes capable of being detected the Bluetooth signals in each adjacent node group;
s32, judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
s33, if yes, the sum of the signal strengths of all the Bluetooth nodes of which the Bluetooth signals can be detected in the adjacent node groups with the same number is obtained, and the adjacent node group with the highest sum of the signal strengths is taken as the optimal adjacent node group;
s34, if not, the adjacent node group with the highest number of the Bluetooth nodes detected the Bluetooth signals is taken as the optimal adjacent node group.
Specifically, in step S4, after the optimal neighboring node group is established, more detailed positioning coordinates need to be determined in the area, and it is needless to say that, the bluetooth node with the highest signal strength in the optimal neighboring node group is referred to first, and the bluetooth node that the mobile terminal should be closest to is considered to have the highest reliability. However, for higher robustness, we cannot ignore the roles of other bluetooth nodes, and give different confidences to the remaining other bluetooth nodes according to the difference between the signal strengths of the other bluetooth nodes and the highest strength, we use a gaussian curve to simulate this rule, assuming that the signal strengths of each bluetooth node in the optimal neighboring node group are Ri (i ═ 1, 2, 3 …), and taking the largest value max (Ri) thereof as the expected μ of the normal distribution N (Ri, μ, δ), and the variance is δ, where the value of the variance δ can be set according to specific situations, and the present invention is not particularly limited to this; the weight calculation method of each node is as follows:
after the weight of each Bluetooth node is obtained, calculating the positioning coordinate according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node, and then estimating the positioning coordinate as follows:
X＝∑i Pi*Xiformula (2);
wherein, XiA coordinate vector representing the ith bluetooth node in the current best neighbor group.
Furthermore, positioning is performed by adopting the adjacent node group matching, so that the positioning accuracy is greatly improved, but if the motion information characteristic of the mobile terminal can be obtained, the motion information characteristic of the mobile terminal and the position estimation based on signal intensity measurement can be linearly fitted through a Kalman filtering algorithm, and the estimation of the motion state of the user at the current moment can be further perfected.
In specific implementation, firstly, the detected Bluetooth signals of a plurality of Bluetooth nodes are acquired within preset time, and corresponding adjacent node groups which are divided in advance are searched according to the detected Bluetooth signals of each Bluetooth node; then, obtaining an optimal adjacent node group; and finally, calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating a positioning coordinate according to the weight of the Bluetooth node.
Compared with the prior art, the Bluetooth positioning method based on the adjacent node group solves the problem that the actual distance value calculated is inaccurate due to the influence of environmental factors in the prior art, and also solves the problem that the cost is increased due to the need of acquiring data in the early stage.
Example two
Referring to fig. 3, fig. 3 is a schematic structural diagram of a bluetooth positioning apparatus 10 based on a neighboring node group according to an embodiment of the present invention; the method comprises the following steps:
the signal detection unit 11 is configured to acquire the detected bluetooth signals of the plurality of bluetooth nodes within a preset time; the Bluetooth signal is greater than the preset signal intensity;
an adjacent node group searching unit 12, configured to search a corresponding adjacent node group that is pre-divided according to the detected bluetooth signal of each bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
an optimal neighboring node group obtaining unit 13, configured to obtain an optimal neighboring node group according to the number of the bluetooth nodes in each neighboring node group, where a bluetooth signal can be detected;
and the positioning coordinate calculation unit 14 is configured to calculate a weight of the bluetooth node according to the detected bluetooth signal strength of each bluetooth node in the optimal adjacent node group, and calculate a positioning coordinate according to the weight of the bluetooth node.
It should be noted that the bluetooth positioning apparatus 10 based on the neighboring node group according to the embodiment of the present invention may be a mobile terminal, and the mobile terminal may be a mobile phone, a tablet computer, or another mobile terminal capable of implementing a positioning function. In the embodiment of the invention, a plurality of Bluetooth nodes are arranged in a certain passable area and used for transmitting Bluetooth signals, each Bluetooth node transmits signals according to the same periodicity, and the transmitted signals have equal strength; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area. When a user holds the mobile terminal by hand and enters the signal range of the Bluetooth node, the positioning function can be started to be realized.
The effective radius of coverage of the bluetooth module of chooseing for use is 10 meters, and intensity is more stable along with the rule of distance decay in the within range of m (m is 5), and if the distance exceeds the scope, the precision of distinguishing of distance will reduce. For realizing the location of the precision for the meter level, arrange bluetooth module on 4 summits in the big square region of 25 square meters, when expanding the location area, only need expand a plurality of squares according to unilateral coincidence mode. For each node, other nodes in a plurality of unit squares (up to four) which participate in the formation are recorded and stored together as a neighboring node group. Thus, within the feasible area planned in advance, four bluetooth nodes can cover each square area with the size of 25 square meters. If the area of the communication area is less than 25 square meters, the minimum distance m between the Bluetooth nodes can be properly adjusted, so that the Bluetooth nodes are uniformly distributed on the periphery as much as possible to wrap the core area.
Specifically, the signal detection unit 11 acquires bluetooth signals of a plurality of detected bluetooth nodes within a preset time; the Bluetooth signal is greater than the preset signal intensity; preferably, the preset time may be 2 s. When the positioning program is opened, the bluetooth nodes enter an area covered by the bluetooth nodes, the signal detection unit 11 first counts the signal intensity of a plurality of bluetooth nodes collected in the latest 2s, and selects the bluetooth nodes with the signal intensity greater than the preset signal intensity.
Specifically, the adjacent node group searching unit 12 searches for a corresponding adjacent node group divided in advance according to the detected bluetooth signal of each bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes. After the Bluetooth nodes are arranged, each independent node is taken as a central node, and the adjacent Bluetooth nodes are counted and classified into the adjacent node group.
Specifically, the adjacent node group corresponding to the area where the mobile terminal is located has a higher probability of being detected by the bluetooth receiver of the mobile terminal, and the loss of the bluetooth intensity is less because of the proximity of the distance. Aiming at the hypothesis, for each Bluetooth node which acquires the signal, checking whether other nodes in the corresponding adjacent node group are detected by the mobile phone at the same time, and calculating the number of the detected Bluetooth nodes. The optimal neighboring node group obtaining unit 13 is specifically configured to:
acquiring the number of the Bluetooth nodes of which Bluetooth signals can be detected in each adjacent node group;
judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
if yes, acquiring the sum of signal strengths of all Bluetooth nodes, in which Bluetooth signals can be detected, in the adjacent node groups with the same number, and taking the adjacent node group with the highest sum of signal strengths as the optimal adjacent node group;
and if not, taking the adjacent node group with the highest number of the Bluetooth nodes with the detected Bluetooth signals as the optimal adjacent node group.
Specifically, after the optimal neighboring node group is established, the positioning coordinate calculation unit 14 needs to determine more detailed positioning coordinates in the area, and as a matter of course, reference is first made to the bluetooth node with the highest signal strength in the optimal neighboring node group, and it is considered that the bluetooth node to which the mobile terminal should be closest has the highest reliability. However, for higher robustness, we cannot ignore the roles of other bluetooth nodes, and give different confidences to the remaining other bluetooth nodes according to the difference between the signal strengths of the other bluetooth nodes and the highest strength, we use a gaussian curve to simulate this rule, and assume that the signal strengths of the bluetooth nodes in the optimal neighboring node group are Ri (i ═ 1, 2, 3 …), and the largest value max (Ri) is taken as the expected μ of the normal distribution N (Ri, μ, δ), and the variance is δ, then the weight calculation method for each node is as follows:
after the weight of each Bluetooth node is obtained, calculating the positioning coordinate according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node, and then estimating the positioning coordinate as follows:
X＝∑i Pi*Xiformula (2);
wherein, XiA coordinate vector representing the ith bluetooth node in the current best neighbor group.
Furthermore, positioning is performed by adopting the adjacent node group matching, so that the positioning accuracy is greatly improved, but if the motion information characteristic of the mobile terminal can be obtained, the motion information characteristic of the mobile terminal and the position estimation based on signal intensity measurement can be linearly fitted through a Kalman filtering algorithm, and the estimation of the motion state of the user at the current moment can be further perfected.
In specific implementation, firstly, the signal detection unit 11 obtains the detected bluetooth signals of a plurality of bluetooth nodes within a preset time, and the adjacent node group searching unit 12 searches a corresponding adjacent node group which is divided in advance according to the detected bluetooth signal of each bluetooth node; then, the optimal adjacent node group acquisition unit 13 acquires an optimal adjacent node group; finally, the positioning coordinate calculating unit 14 calculates the weight of the bluetooth node according to the detected bluetooth signal strength of each bluetooth node in the optimal adjacent node group, and calculates the positioning coordinate according to the weight of the bluetooth node.
Compared with the prior art, the Bluetooth positioning device 10 based on the adjacent node group solves the problem that the actual distance value calculated is inaccurate due to the influence of environmental factors in the prior art, and also solves the problem that the cost is increased due to the need of acquiring data in the early stage.
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic structural diagram of a bluetooth positioning apparatus 20 based on a neighboring node group according to an embodiment of the present invention; the bluetooth positioning apparatus 20 based on the neighboring node group of this embodiment includes: a processor 21, a memory 22 and a computer program stored in said memory 22 and executable on said processor 21. The processor 21, when executing the computer program, implements the steps in the above-mentioned embodiments of the bluetooth positioning method based on neighboring node groups, such as the steps S1 to S4 shown in fig. 1. Alternatively, the processor 21, when executing the computer program, implements the functions of the modules/units in the above-mentioned device embodiments, such as the signal detection unit 11.
Illustratively, the computer program may be divided into one or more modules/units, which are stored in the memory 22 and executed by the processor 21 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the adjacent node group based bluetooth positioning apparatus 20. For example, the computer program may be divided into a signal detection unit 11, an adjacent node group search unit 12, an optimal adjacent node group acquisition unit 13, and a positioning coordinate calculation unit 14, and for specific functions of each module, reference is made to specific functions of each unit of the bluetooth positioning apparatus 10 based on an adjacent node group in the second embodiment, which are not described herein again.
The bluetooth positioning apparatus 20 based on the adjacent node group may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing apparatuses. The bluetooth positioning apparatus 20 based on the neighboring node group may include, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will appreciate that the schematic diagram is merely an example of the neighbor set-based bluetooth positioning apparatus 20 and does not constitute a limitation of the neighbor set-based bluetooth positioning apparatus 20, and may include more or fewer components than those shown, or some components in combination, or different components, for example, the neighbor set-based bluetooth positioning apparatus 20 may also include input-output devices, network access devices, buses, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the neighbor based group bluetooth positioning apparatus 20, with various interfaces and lines connecting the various parts of the entire neighbor based group bluetooth positioning apparatus 20.
The memory 22 may be used to store the computer programs and/or modules, and the processor 21 implements various functions of the bluetooth positioning apparatus 20 based on the neighboring node group by running or executing the computer programs and/or modules stored in the memory 22 and calling data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein the modules/units integrated by the bluetooth positioning apparatus 20 based on the neighboring node group can be stored in a computer readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by the processor 21 to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Example four
Referring to fig. 5, fig. 5 is a schematic structural diagram of a bluetooth positioning system 30 based on a neighboring node group according to an embodiment of the present invention; comprises a plurality of Bluetooth nodes 31 and the Bluetooth positioning device 10 based on the adjacent node group according to any embodiment; wherein the content of the first and second substances,
the Bluetooth node 31 is arranged in the passable area; the passable area is divided into a plurality of square areas with equal size, and the Bluetooth nodes 31 are arranged on four nodes of each square area; each of the bluetooth nodes 31 transmits bluetooth signals of the same signal strength at the same period.
It should be noted that, please refer to the working process of the bluetooth positioning apparatus 10 based on the neighboring node group in the second embodiment, which is not described herein again.
In specific implementation, firstly, the bluetooth positioning apparatus 10 based on the adjacent node group obtains the detected bluetooth signals of the plurality of bluetooth nodes 31 within a preset time, and searches for a corresponding adjacent node group which is divided in advance according to the detected bluetooth signal of each bluetooth node 31; then, the bluetooth positioning apparatus 10 based on the adjacent node group obtains the best adjacent node group; finally, the bluetooth positioning apparatus 10 based on the adjacent node group calculates the weight of the bluetooth node according to the detected bluetooth signal strength of each bluetooth node 31 in the optimal adjacent node group, and calculates the positioning coordinate according to the weight of the bluetooth node 31.
Compared with the prior art, the Bluetooth positioning system 30 based on the adjacent node group solves the problem that the actual distance value calculated is inaccurate due to the influence of environmental factors in the prior art, and also solves the problem that the cost is increased due to the need of acquiring data in the early stage.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A Bluetooth positioning method based on adjacent node groups is characterized by comprising the following steps:
acquiring the detected Bluetooth signals of a plurality of Bluetooth nodes within preset time; the Bluetooth signal is greater than the preset signal intensity;
searching a corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
acquiring an optimal adjacent node group according to the number of the Bluetooth nodes capable of being detected with Bluetooth signals in each adjacent node group;
calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group, and calculating a positioning coordinate according to the weight of the Bluetooth node;
wherein, the obtaining of the best adjacent node group according to the number of the bluetooth nodes capable of being detected with bluetooth signals in each adjacent node group specifically includes:
acquiring the number of the Bluetooth nodes of which Bluetooth signals can be detected in each adjacent node group;
judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
if yes, acquiring the sum of signal strengths of all Bluetooth nodes, in which Bluetooth signals can be detected, in the adjacent node groups with the same number, and taking the adjacent node group with the highest sum of signal strengths as the optimal adjacent node group;
if not, the adjacent node group with the highest number of the Bluetooth nodes with the detected Bluetooth signals is taken as the optimal adjacent node group;
the weight calculation method of each bluetooth node in the optimal adjacent node group comprises the following steps:
ri is the signal strength of each Bluetooth node in the optimal neighbor node group, mu is the expectation, and delta is the variance.
2. The neighbor set-based bluetooth positioning method of claim 1, wherein each of said bluetooth nodes transmits bluetooth signals of the same signal strength according to the same period.
3. The method of claim 1, wherein the bluetooth node is located in a passable area; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area.
4. The bluetooth positioning method based on neighboring node group according to claim 1, wherein the calculating the positioning coordinates according to the weight of the bluetooth node specifically comprises:
and calculating the positioning coordinate according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node.
5. A Bluetooth positioning device based on a neighbor node group, comprising:
the signal detection unit is used for acquiring the detected Bluetooth signals of the plurality of Bluetooth nodes within preset time; the Bluetooth signal is greater than the preset signal intensity;
the adjacent node group searching unit is used for searching a corresponding adjacent node group which is divided in advance according to the detected Bluetooth signal of each Bluetooth node; the adjacent node group takes any Bluetooth node as a central node and comprises the central node and a plurality of adjacent Bluetooth nodes;
an optimal adjacent node group obtaining unit, configured to obtain an optimal adjacent node group according to the number of the bluetooth nodes, in each of the adjacent node groups, for which bluetooth signals can be detected;
the positioning coordinate calculation unit is used for calculating the weight of the Bluetooth node according to the detected Bluetooth signal intensity of each Bluetooth node in the optimal adjacent node group and calculating the positioning coordinate according to the weight of the Bluetooth node;
wherein the optimal neighboring node group acquisition unit is specifically configured to:
acquiring the number of the Bluetooth nodes of which Bluetooth signals can be detected in each adjacent node group;
judging whether the adjacent node groups with the same number of the Bluetooth nodes with the detected Bluetooth signals exist or not;
if yes, acquiring the sum of signal strengths of all Bluetooth nodes, in which Bluetooth signals can be detected, in the adjacent node groups with the same number, and taking the adjacent node group with the highest sum of signal strengths as the optimal adjacent node group;
if not, the adjacent node group with the highest number of the Bluetooth nodes with the detected Bluetooth signals is taken as the optimal adjacent node group;
the weight calculation method of each bluetooth node in the optimal adjacent node group comprises the following steps:
ri is the signal strength of each Bluetooth node in the optimal neighbor node group, mu is the expectation, and delta is the variance.
6. The neighbor set-based bluetooth positioning apparatus of claim 5, wherein the positioning coordinate calculating unit is configured to calculate the positioning coordinates according to the weight of the bluetooth node and the coordinate vector of the bluetooth node.
7. A neighbor node group-based bluetooth positioning apparatus, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the neighbor node group-based bluetooth positioning method according to any one of claims 1 to 4.
8. A Bluetooth positioning system based on adjacent node groups, which is characterized by comprising a plurality of Bluetooth nodes and the Bluetooth positioning device based on adjacent node groups according to any one of claims 5-6; wherein the content of the first and second substances,
the Bluetooth node is arranged in the passable area; the passable area is divided into a plurality of square areas with the same size, and the Bluetooth nodes are arranged on four nodes of each square area; and each Bluetooth node sends Bluetooth signals with the same signal strength according to the same period.
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