CN109889977A - A kind of bluetooth localization method, device, equipment and system returned based on Gauss - Google Patents
A kind of bluetooth localization method, device, equipment and system returned based on Gauss Download PDFInfo
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- CN109889977A CN109889977A CN201910136154.6A CN201910136154A CN109889977A CN 109889977 A CN109889977 A CN 109889977A CN 201910136154 A CN201910136154 A CN 201910136154A CN 109889977 A CN109889977 A CN 109889977A
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Abstract
The invention discloses a kind of bluetooth localization methods returned based on Gauss, comprising: obtains the Bluetooth signal of several bluetooth nodes detected within a preset time；Wherein, the Bluetooth signal is greater than preset signal strength；After the quantity for detecting the bluetooth nodes meets default number of nodes, the coordinate vector and relative intensity value of the currently detected bluetooth nodes are obtained；Wherein, the relative intensity value is the difference of bluetooth signal intensity and the preset signal strength that the bluetooth nodes currently measure；It is fitted according to the coordinate vector and the relative intensity value using Gaussian curve, the peak position of the Gaussian curve is taken to be set to positioning coordinate.The embodiment of the invention also discloses a kind of bluetooth positioning device, equipment and systems returned based on Gauss.Using the embodiment of the present invention, the relationship of direct fitted signal intensity and actual range is not needed, improves accuracy and ease for use, removes the demand of acquisition early period data tranining database from, reduces cost.
Description
Technical field
The present invention relates to bluetooth location technology more particularly to a kind of bluetooth localization method returned based on Gauss, device, set
Standby and system.
Background technique
With the fast development in city, the buildings such as Large Underground parking lot, shopping center are continued to bring out.Above-mentioned
Indoor environment in, it is desirable to quickly determine the position where oneself, and find the destination oneself wanted to go to.It is existing
Having the bluetooth location technology used in technology includes following two, and one is by intelligent terminal online acquisition to bluetooth nodes signal
Intensity value directly passes through the relationship that some mapping modes such as fitting establish signal strength and actual range；Another two kinds are in training
The fingerprint vector data of the offline bluetooth module of intelligent terminal are stored to obtain fingerprint-position mapping database resource, are used
When, intelligent terminal is compared collected fingerprint vector and each fingerprint vector in finger print data resource in wire module
It is right, the higher reference position of the degree of approach, which is chosen, as sample position carries out fusion output.
But for the first scheme, because signal strength is by environmental factor factors such as (temperature, humidity, physics) blocking shadow
Sound is larger, therefore is also extremely unstable, inaccurate by the actual distance value that it is calculated；For second scheme, training
Sample collection cost is high when database, and the transformation of any indoor scene/separate again, it can all lead to the fingerprint number in the region
It fails according to library, needs to be acquired training once again, cause the increase of cost.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of bluetooth localization method returned based on Gauss, device, equipment and being
System does not need the relationship of direct fitted signal intensity and actual range, improves accuracy and ease for use, removes acquisition early period data from
The demand of tranining database, reduces cost.
To achieve the above object, the embodiment of the invention provides a kind of bluetooth localization methods returned based on Gauss, comprising:
The Bluetooth signal of several bluetooth nodes detected is obtained within a preset time；Wherein, the Bluetooth signal is greater than
Preset signal strength；
After the quantity for detecting the bluetooth nodes is greater than default number of nodes, the currently detected bluetooth is obtained
The coordinate vector and relative intensity value of node；Wherein, the relative intensity value is the bluetooth letter that the bluetooth nodes currently measure
The difference of number intensity and the preset signal strength；
It is fitted according to the coordinate vector and the relative intensity value using Gaussian curve, takes the Gaussian curve
Peak position is set to positioning coordinate, meets at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxIt is described
The peak value of Gaussian curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
Compared with prior art, the bluetooth localization method disclosed by the invention returned based on Gauss, firstly, in preset time
The interior Bluetooth signal for obtaining several bluetooth nodes detected；Then, it is preset when the quantity for detecting the bluetooth nodes is greater than
After number of nodes, the coordinate vector and relative intensity value of the currently detected bluetooth nodes are obtained；Finally, according to the seat
Relative intensity value described in mark vector sum is fitted using Gaussian curve, and the peak position of the Gaussian curve is taken to be set to positioning coordinate.
It solves the problems, such as to also solve simultaneously because being led to the actual distance value calculated inaccuracy by such environmental effects in the prior art
The problem of needing acquisition early period data to lead to increased costs, the bluetooth localization method disclosed by the invention returned based on Gauss is not required to
The relationship of direct fitted signal intensity and actual range is wanted, accuracy and ease for use are improved, removes acquisition early period data training number from
According to the demand in library, cost is reduced.
As an improvement of the above scheme, each bluetooth nodes send the bluetooth of identical signal strength according to same period
Signal.
As an improvement of the above scheme, be set to can be in traffic areas for the bluetooth nodes；Wherein, described can traffic areas quilt
Several equal-sized square areas are divided into, are provided with the indigo plant on four nodes of each square area
Tooth node.
To achieve the above object, the embodiment of the invention also provides a kind of bluetooth positioning device returned based on Gauss, packets
It includes:
Bluetooth signal detection unit, for obtaining the Bluetooth signal of several bluetooth nodes detected within a preset time；
Wherein, the Bluetooth signal is greater than preset signal strength；
Data capture unit, for after the quantity for detecting the bluetooth nodes is greater than default number of nodes, acquisition to be worked as
Before the coordinate vector and relative intensity value of the bluetooth nodes that detect；Wherein, the relative intensity value is the bluetooth section
The difference of bluetooth signal intensity and the preset signal strength that point currently measures；
Coordinate acquiring unit is positioned, for carrying out according to the coordinate vector and the relative intensity value using Gaussian curve
Fitting, takes the peak position of the Gaussian curve to be set to positioning coordinate, meets at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxIt is described
The peak value of Gaussian curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
Compared with prior art, the bluetooth positioning device disclosed by the invention returned based on Gauss, firstly, Bluetooth signal is examined
Survey the Bluetooth signal that unit obtains several bluetooth nodes detected within a preset time；Then, when detecting the bluetooth section
After the quantity of point is greater than default number of nodes, data capture unit obtains the coordinate vector of the currently detected bluetooth nodes
And relative intensity value；Finally, positioning coordinate acquiring unit is bent using Gauss according to the coordinate vector and the relative intensity value
Line is fitted, and the peak position of the Gaussian curve is taken to be set to positioning coordinate.It solves in the prior art because by such environmental effects
Lead to the problem of the actual distance value inaccuracy calculated, while also solving and acquisition early period data is needed to lead to asking for increased costs
Topic, the bluetooth positioning device disclosed by the invention returned based on Gauss do not need the pass of direct fitted signal intensity and actual range
Accuracy and ease for use improve in system, remove the demand of acquisition early period data tranining database from, reduce cost.
As an improvement of the above scheme, each bluetooth nodes send the bluetooth of identical signal strength according to same period
Signal.
As an improvement of the above scheme, be set to can be in traffic areas for the bluetooth nodes；Wherein, described can traffic areas quilt
Several equal-sized square areas are divided into, are provided with the indigo plant on four nodes of each square area
Tooth node.
To achieve the above object, the embodiment of the present invention also provides a kind of bluetooth positioning device returned based on Gauss, special
Sign is, including processor, memory and stores in the memory and is configured as the meter executed by the processor
Calculation machine program, the processor realize returning as described in above-mentioned any embodiment based on Gauss when executing the computer program
Bluetooth localization method.
To achieve the above object, the embodiment of the present invention also provides a kind of bluetooth positioning system returned based on Gauss, including
Several bluetooth nodes and the bluetooth positioning device returned based on Gauss as described in above-mentioned any embodiment；Wherein,
The bluetooth nodes are set to can be in traffic areas；Wherein, it is described can traffic areas be divided into several size phases
Deng square area, be provided with the bluetooth nodes on four nodes of each square area；Each indigo plant
Tooth node sends the Bluetooth signal of identical signal strength according to same period.
Detailed description of the invention
Fig. 1 is a kind of flow chart of bluetooth localization method returned based on Gauss provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of bluetooth positioning device 10 returned based on Gauss provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of bluetooth positioning device 20 returned based on Gauss provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of bluetooth positioning system 30 returned based on Gauss provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
It is a kind of process of bluetooth localization method returned based on Gauss provided in an embodiment of the present invention referring to Fig. 1, Fig. 1
Figure；Include:
S1, the Bluetooth signal for obtaining several bluetooth nodes detected within a preset time；Wherein, the Bluetooth signal is big
In preset signal strength；
S2, after the quantity for detecting the bluetooth nodes is greater than default number of nodes, obtain currently detected described
The coordinate vector and relative intensity value of bluetooth nodes；Wherein, the relative intensity value is the indigo plant that the bluetooth nodes currently measure
The difference of tooth signal strength and the preset signal strength；
S3, it is fitted according to the coordinate vector and the relative intensity value using Gaussian curve, takes the Gauss bent
The peak position of line is set to positioning coordinate；
It is worth noting that the bluetooth localization method returned described in the embodiment of the present invention based on Gauss can pass through movement
Terminal executes realization, the mobile terminal can be mobile phone, tablet computer or other can realize the mobile terminal of positioning function.This
Inventive embodiments can arrange several bluetooth nodes for emitting Bluetooth signal, each bluetooth in certain in traffic areas
Node presses identical periodicity sending signal, and the signal strength sent is equal；Wherein, if it is described can traffic areas be divided into
An equal-sized square area is done, is provided with the bluetooth nodes on four nodes of each square area.
When user, which holds the mobile terminal, to be entered in the range of signal of the bluetooth nodes, can start to realize positioning function.
Effective covering radius of the bluetooth module of selection is 10 meters, and intensity declines with distance in the range of m (m=5) rice
The rule subtracted is more stable, if distance overruns, the differentiation precision of distance will be reduced.To realize that precision is determining for meter level
Position, bluetooth module is arranged on 4 vertex of 25 square metres of big square area, when expanding localization region, only need by
Multiple squares are expanded in the way of unilateral coincidence.Then can be in traffic areas what is cooked up in advance, each size
For 25 square metres of square areas can there are four bluetooth nodes to cover.If it exists communication zone area deficiency with 25 squares
The case where rice, it can be made to be evenly distributed as much as possible in circumferential periphery, wrapped with the minimum range m between appropriate adjustment bluetooth nodes
Nucleus.
Specifically, in step sl, obtaining the Bluetooth signal of several bluetooth nodes detected within a preset time；Its
In, the Bluetooth signal is greater than preset signal strength；Preferably, the preset time can be 2s.When opening finder,
It is first that the signal for counting several interior collected bluetooth nodes in nearest 2s is strong into the region covered by bluetooth nodes
Degree, and it is screened out from it the bluetooth nodes that signal strength is greater than preset signal strength.
Specifically, in step s 2, according to the Bluetooth signal of each bluetooth nodes detected, judging current Bluetooth
Whether the quantity of node is greater than default number of nodes；If so, the data currently acquired are effective；If it is not, then until acquisition
To bluetooth nodes quantity be greater than default number of nodes after carry out next step operation again.
Further, it after the quantity for determining current Bluetooth node is greater than default number of nodes, obtains currently detected
The coordinate vector and relative intensity value of the bluetooth nodes；Wherein, the relative intensity value is that the bluetooth nodes currently measure
Bluetooth signal intensity and the preset signal strength difference.
Specifically, in step s3, it is worth noting that, in embodiments of the present invention, it is assumed that mobile terminal is one steady
Fixed bluetooth transmitters then within a certain area can be approximated to be a dimensional Gaussian song with the decaying of distance signal intensity
Line, then bluetooth signal intensity corresponding to the bluetooth nodes being on different location may be regarded as in the position sending out mobile terminal
The sampling for the Bluetooth signal penetrated, in reality scene, although the relationship of transmitter and receiver is exchanged, due to each indigo plant
The emissive porwer of tooth node is consistent and constant with mobile terminal emissive porwer in assuming, is in addition exchanged relationship and is not changed that
The distance between this, and the decaying of intensity is determined apart from evidence, so the intensity value that its mobile terminal receives in actual scene
Should be received with bluetooth nodes in hypothesis it is consistent, after matched curve has been determined, then center (the peak position of its Gaussian curve
Set) it is the positioning coordinate estimated.
Specifically, being fitted according to the coordinate vector and the relative intensity value using Gaussian curve, the height is taken
The peak position of this curve is set to positioning coordinate, meets at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxIt is described
The peak value of Gaussian curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
Natural logrithm is taken to formula (1) both sides, is turned to:
It enables: lnyi=zi,And consider whole
Experimental data, then above formula can be indicated with matrixing are as follows:
Formula (3) brief note are as follows: Z=XB；According to principle of least square method, the Generalized Least Square solution of matrix B is constituted are as follows:
B=(XTX-1)XTZ formula (4)；Parameter x is found out againcenter, obtain the positioning coordinate.
Further, it being fitted positioning by using the Gaussian curve, positioning accuracy has been greatly improved, but
It, can be by Kalman filtering algorithm by the mobile terminal if the motion information feature of the mobile terminal can be got
Motion information feature and location estimation linear fit based on signal strength measurement, additionally it is possible to further improve current time use
The estimation of family motion state.
When it is implemented, firstly, obtaining the Bluetooth signal of several bluetooth nodes detected within a preset time；Then,
After the quantity for detecting the bluetooth nodes is greater than default number of nodes, the seat of the currently detected bluetooth nodes is obtained
Mark vector sum relative intensity value；Finally, be fitted according to the coordinate vector and the relative intensity value using Gaussian curve,
The peak position of the Gaussian curve is taken to be set to positioning coordinate.
Compared with prior art, the bluetooth localization method disclosed by the invention returned based on Gauss, solves the prior art
The problem of the middle actual distance value inaccuracy because being led to calculating by such environmental effects, while also solving and needing acquire number early period
The problem of according to increased costs are caused, the bluetooth localization method disclosed by the invention returned based on Gauss do not need direct fitted signal
The relationship of intensity and actual range improves accuracy and ease for use, removes the demand of acquisition early period data tranining database from, reduces
Cost is also only needed redistributing the allocation plan for calculating adjacent node group from the background, be not required to even if indoor scene changes
Again update fingerprint base is acquired on the spot, significantly reduction maintenance cost.
Embodiment two
Referring to fig. 2, Fig. 2 is a kind of structure of bluetooth positioning device 10 returned based on Gauss provided in an embodiment of the present invention
Schematic diagram；Include:
Bluetooth signal detection unit 11, the bluetooth for obtaining several bluetooth nodes detected within a preset time are believed
Number；Wherein, the Bluetooth signal is greater than preset signal strength；
Data capture unit 12, for obtaining after the quantity for detecting the bluetooth nodes is greater than default number of nodes
The coordinate vector and relative intensity value of the currently detected bluetooth nodes；Wherein, the relative intensity value is the bluetooth
The difference of bluetooth signal intensity and the preset signal strength that node currently measures；
Position coordinate acquiring unit 13, for according to the coordinate vector and the relative intensity value using Gaussian curve into
Row fitting, takes the peak position of the Gaussian curve to be set to positioning coordinate.
It is worth noting that the bluetooth positioning device returned described in the embodiment of the present invention based on Gauss can be movement eventually
End, the mobile terminal can be mobile phone, tablet computer or other can realize the mobile terminal of positioning function.The embodiment of the present invention
Several bluetooth nodes can be arranged for emitting Bluetooth signal in traffic areas in certain, each bluetooth nodes are by identical
Periodicity sending signal, and send signal strength it is equal；Wherein, it is described can traffic areas be divided into several size phases
Deng square area, be provided with the bluetooth nodes on four nodes of each square area.When user is hand-held
When the mobile terminal is entered in the range of signal of the bluetooth nodes, it can start to realize positioning function.
Effective covering radius of the bluetooth module of selection is 10 meters, and intensity declines with distance in the range of m (m=5) rice
The rule subtracted is more stable, if distance overruns, the differentiation precision of distance will be reduced.To realize that precision is determining for meter level
Position, bluetooth module is arranged on 4 vertex of 25 square metres of big square area, when expanding localization region, only need by
Multiple squares are expanded in the way of unilateral coincidence.Then can be in traffic areas what is cooked up in advance, each size
For 25 square metres of square areas can there are four bluetooth nodes to cover.If it exists communication zone area deficiency with 25 squares
The case where rice, it can be made to be evenly distributed as much as possible in circumferential periphery, wrapped with the minimum range m between appropriate adjustment bluetooth nodes
Nucleus.
Specifically, the Bluetooth signal detection unit 11 obtains the indigo plant of several bluetooth nodes detected within a preset time
Tooth signal；Wherein, the Bluetooth signal is greater than preset signal strength；Preferably, the preset time can be 2s.It is fixed when opening
When the program of position, into the region covered by bluetooth nodes, several interior collected bluetooth sections in nearest 2s will be counted first
The signal strength of point, and it is screened out from it the bluetooth nodes that signal strength is greater than preset signal strength.
Specifically, judging the quantity of current Bluetooth node according to the Bluetooth signal of each bluetooth nodes detected
Whether default number of nodes is greater than；If so, the data currently acquired are effective；If it is not, then until collected bluetooth section
The quantity of point carries out next step operation after being greater than default number of nodes again.
Further, after the quantity for determining current Bluetooth node is greater than default number of nodes, the data capture unit
12 obtain the coordinate vector and relative intensity value of the currently detected bluetooth nodes；Wherein, the relative intensity value is institute
State the difference of bluetooth signal intensity and the preset signal strength that bluetooth nodes currently measure.
It is worth noting that in embodiments of the present invention, it is assumed that it is described based on Gauss return bluetooth positioning device 10 be
One stable bluetooth transmitters then within a certain area can be approximated to be a two dimension with the decaying of distance signal intensity
Gaussian curve, then bluetooth signal intensity corresponding to the bluetooth nodes being on different location may be regarded as in the position to described
Based on Gauss return bluetooth positioning device 10 emit Bluetooth signal sampling, in reality scene, although transmitter with connect
The relationship for receiving device is exchanged, but since the emissive porwer of each bluetooth nodes is the same as the bluetooth returned described in hypothesis based on Gauss
10 emissive porwer of positioning device is consistent and constant, in addition exchange relationship do not change between distance, and apart from evidence
The decaying of intensity is determined, so the intensity that the bluetooth positioning device 10 returned based on Gauss of its in actual scene is received
Value should be received with bluetooth nodes in hypothesis it is consistent, after matched curve has been determined, then center (the peak position of its Gaussian curve
Set) it is the positioning coordinate estimated.
Specifically, the positioning coordinate acquiring unit 13 utilizes Gauss according to the coordinate vector and the relative intensity value
Curve is fitted, and the peak position of the Gaussian curve is taken to be set to positioning coordinate, is met at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxIt is described
The peak value of Gaussian curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
Natural logrithm is taken to formula (1) both sides, is turned to:
It enables: lnyi=zi,And consider whole
Experimental data, then above formula can be indicated with matrixing are as follows:
Formula (3) brief note are as follows: Z=XB；According to principle of least square method, the Generalized Least Square solution of matrix B is constituted are as follows:
B=(XTX-1)XTZ formula (4)；
Parameter x is found out againcenter, obtain the positioning coordinate.
Further, it being fitted positioning by using the Gaussian curve, positioning accuracy has been greatly improved, but
It, can be by Kalman filtering algorithm by the mobile terminal if the motion information feature of the mobile terminal can be got
Motion information feature and location estimation linear fit based on signal strength measurement, additionally it is possible to further improve current time use
The estimation of family motion state.
When it is implemented, firstly, Bluetooth signal detection unit 11 obtains several bluetooth sections detected within a preset time
The Bluetooth signal of point；Then, after the quantity for detecting the bluetooth nodes is greater than default number of nodes, data capture unit 12
Obtain the coordinate vector and relative intensity value of the currently detected bluetooth nodes；Finally, positioning coordinate acquiring unit 13
It is fitted according to the coordinate vector and the relative intensity value using Gaussian curve, takes the peak position of the Gaussian curve to be set to fixed
Position coordinate.
Compared with prior art, the bluetooth positioning device 10 disclosed by the invention returned based on Gauss, solves existing skill
Because of the problem for the actual distance value inaccuracy for being caused to calculate by such environmental effects in art, while also solving and needing acquire early period
Data cause the problem of increased costs, and the bluetooth positioning device 10 disclosed by the invention returned based on Gauss does not need directly to be fitted
The relationship of signal strength and actual range improves accuracy and ease for use, removes the demand of acquisition early period data tranining database from,
Cost is reduced, even if indoor scene changes, also only needs redistributing the allocation plan for calculating adjacent node group from the background,
It does not need to acquire update fingerprint base on the spot again, significantly reduction maintenance cost.
Embodiment three
It is a kind of structure of bluetooth positioning device 20 returned based on Gauss provided in an embodiment of the present invention referring to Fig. 3, Fig. 3
Schematic diagram；The bluetooth positioning device 20 of the embodiment returned based on Gauss is included: processor 21, memory 22 and is stored in
In the memory 22 and the computer program that can be run on the processor 21.The processor 21 executes the computer
The step in above-mentioned each bluetooth localization method embodiment returned based on Gauss, such as step shown in FIG. 1 are realized when program
S1~S4.Alternatively, the processor 21 realizes each module/unit in above-mentioned each Installation practice when executing the computer program
Function, such as the Bluetooth signal detection unit 11.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory 22, and is executed by the processor 21, to complete the present invention.It is one
Or multiple module/units can be the series of computation machine program instruction section that can complete specific function, the instruction segment is for retouching
State implementation procedure of the computer program in the bluetooth positioning device 20 returned based on Gauss.For example, the calculating
Machine program can be divided into Bluetooth signal detection unit 11, data capture unit 12 and positioning coordinate acquiring unit 13, each mould
Block concrete function please refers to the tool of each unit of the bluetooth positioning device 10 returned described in above-described embodiment two based on Gauss
Body function, details are not described herein.
It is described based on Gauss return bluetooth positioning device 20 can be desktop PC, notebook, palm PC and
Cloud server etc. calculates equipment.The bluetooth positioning device 20 returned based on Gauss may include, but be not limited only to, processor
21, memory 22.It will be understood by those skilled in the art that the schematic diagram is only based on the bluetooth positioning device of Gauss recurrence
20 example does not constitute the restriction to the bluetooth positioning device 20 returned based on Gauss, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as the bluetooth positioning device 20 returned based on Gauss
It can also include input-output equipment, network access equipment, bus etc..
Alleged processor 21 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
It is the control centre of the bluetooth positioning device 20 returned based on Gauss Deng, the processor, utilizes various interfaces and route
The various pieces for the bluetooth positioning device 20 that connection is entirely returned based on Gauss.
The memory 22 can be used for storing the computer program and/or module, the processor 21 by operation or
The computer program and/or module being stored in the memory 22 are executed, and calls the data being stored in memory 22,
Realize the various functions of the bluetooth positioning device 20 returned based on Gauss.The memory 22 can mainly include storage program
Area and storage data area, wherein storing program area can application program needed for storage program area, at least one function (such as
Sound-playing function, image player function etc.) etc.；Storage data area, which can be stored, uses created data (ratio according to mobile phone
Such as audio data, phone directory) etc..In addition, memory 22 may include high-speed random access memory, it can also include non-easy
The property lost memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other
Volatile solid-state part.
Wherein, if the integrated module/unit of the bluetooth positioning device 20 returned based on Gauss is with software function list
Member form realize and when sold or used as an independent product, can store in a computer-readable storage medium
In.Based on this understanding, the present invention realizes all or part of the process in above-described embodiment method, can also pass through computer
Program is completed to instruct relevant hardware, and the computer program can be stored in a computer readable storage medium, should
Computer program by processor 21 when being executed, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer journey
Sequence includes computer program code, and the computer program code can be source code form, object identification code form, executable text
Part or certain intermediate forms etc..The computer-readable medium may include: that can carry appointing for the computer program code
What entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunications letter
Number and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be managed according to the administration of justice
Local legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent
Practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
Example IV
Referring to fig. 4, Fig. 4 is a kind of structure of bluetooth positioning system 30 returned based on Gauss provided in an embodiment of the present invention
Schematic diagram；The bluetooth positioning device returned based on Gauss including several bluetooth nodes 31 and as described in above-mentioned any embodiment
10；Wherein,
The bluetooth nodes 31 are set to can be in traffic areas；Wherein, it is described can traffic areas be divided into several sizes
Equal square area is provided with the bluetooth nodes 31 on four nodes of each square area；Each institute
State the Bluetooth signal that bluetooth nodes 31 send identical signal strength according to same period.
It is worth noting that it is described based on Gauss return bluetooth positioning device 10 specific work process please refer to it is above-mentioned
The course of work of the bluetooth positioning device 10 returned described in embodiment two based on Gauss, details are not described herein.
When it is implemented, firstly, the bluetooth positioning device 10 returned based on Gauss obtains detection within a preset time
The Bluetooth signal of several bluetooth nodes 31 arrived；Then, the bluetooth positioning device 10 returned based on Gauss, which is worked as, detects institute
State bluetooth nodes 31 quantity be greater than default number of nodes after, obtain the coordinate vector of the currently detected bluetooth nodes 31
And relative intensity value；Finally, the bluetooth positioning device 10 returned based on Gauss is according to the coordinate vector and described opposite
Intensity value is fitted using Gaussian curve, and the peak position of the Gaussian curve is taken to be set to positioning coordinate
Compared with prior art, the bluetooth positioning system 30 disclosed by the invention returned based on Gauss, solves existing skill
Because of the problem for the actual distance value inaccuracy for being caused to calculate by such environmental effects in art, while also solving and needing acquire early period
Data cause the problem of increased costs, and the bluetooth positioning system 30 disclosed by the invention returned based on Gauss does not need directly to be fitted
The relationship of signal strength and actual range improves accuracy and ease for use, removes the demand of acquisition early period data tranining database from,
Cost is reduced, even if indoor scene changes, also only needs redistributing the allocation plan for calculating adjacent node group from the background,
It does not need to acquire update fingerprint base on the spot again, significantly reduction maintenance cost.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
1. a kind of bluetooth localization method returned based on Gauss characterized by comprising
The Bluetooth signal of several bluetooth nodes detected is obtained within a preset time；Wherein, the Bluetooth signal is greater than default
Signal strength；
After the quantity for detecting the bluetooth nodes is greater than default number of nodes, the currently detected bluetooth nodes are obtained
Coordinate vector and relative intensity value；Wherein, the relative intensity value is that the Bluetooth signal that the bluetooth nodes currently measure is strong
The difference of degree and the preset signal strength；
It is fitted according to the coordinate vector and the relative intensity value using Gaussian curve, takes the peak position of the Gaussian curve
It is set to positioning coordinate, is met at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxFor the Gauss
The peak value of curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
2. the bluetooth localization method returned as described in claim 1 based on Gauss, which is characterized in that each bluetooth nodes
The Bluetooth signal of identical signal strength is sent according to same period.
3. the bluetooth localization method returned as described in claim 1 based on Gauss, which is characterized in that the bluetooth nodes are set to
It can be in traffic areas；Wherein, it is described can traffic areas be divided into several equal-sized square areas, it is each it is described just
The bluetooth nodes are provided on four nodes of square region.
4. a kind of bluetooth positioning device returned based on Gauss characterized by comprising
Bluetooth signal detection unit, for obtaining the Bluetooth signal of several bluetooth nodes detected within a preset time；Wherein,
The Bluetooth signal is greater than preset signal strength；
Data capture unit, for obtaining current inspection after the quantity for detecting the bluetooth nodes is greater than default number of nodes
The coordinate vector and relative intensity value of the bluetooth nodes measured；Wherein, the relative intensity value is that the bluetooth nodes are worked as
Before the bluetooth signal intensity that measures and the preset signal strength difference；
Coordinate acquiring unit is positioned, for being intended according to the coordinate vector and the relative intensity value using Gaussian curve
It closes, the peak position of the Gaussian curve is taken to be set to positioning coordinate, meet at this time:
Wherein, yiFor the relative intensity value of the bluetooth nodes；xiFor the coordinate vector of the bluetooth nodes；ymaxFor the Gauss
The peak value of curve；xcenterFor the peak position of the Gaussian curve；S is the half width information of the Gaussian curve.
5. the bluetooth positioning device returned as claimed in claim 4 based on Gauss, which is characterized in that each bluetooth nodes
The Bluetooth signal of identical signal strength is sent according to same period.
6. the bluetooth positioning device returned as claimed in claim 4 based on Gauss, which is characterized in that the bluetooth nodes are set to
It can be in traffic areas；Wherein, it is described can traffic areas be divided into several equal-sized square areas, it is each it is described just
The bluetooth nodes are provided on four nodes of square region.
7. a kind of bluetooth positioning device returned based on Gauss, which is characterized in that including processor, memory and be stored in institute
The computer program executed by the processor is stated in memory and is configured as, the processor executes the computer program
The bluetooth localization method that based on Gauss is returned of the Shi Shixian as described in any one of claims 1 to 3.
8. a kind of bluetooth positioning system returned based on Gauss, which is characterized in that including several bluetooth nodes and such as claim 4
The bluetooth positioning device returned based on Gauss；Wherein,
The bluetooth nodes are set to can be in traffic areas；Wherein, described can be divided into several equal-sized for traffic areas
Square area is provided with the bluetooth nodes on four nodes of each square area；Each bluetooth section
Press the Bluetooth signal that identical signal strength is sent according to same period.
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