CN110031800B - Positioning method, positioning device, computer equipment and storage medium - Google Patents

Positioning method, positioning device, computer equipment and storage medium Download PDF

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CN110031800B
CN110031800B CN201910349357.3A CN201910349357A CN110031800B CN 110031800 B CN110031800 B CN 110031800B CN 201910349357 A CN201910349357 A CN 201910349357A CN 110031800 B CN110031800 B CN 110031800B
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positioning
beacon
reference value
corrected
target
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CN110031800A (en
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邓伟
张莹
杨军
李志超
李咸珍
赵天月
邹祥祥
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BOE Technology Group Co Ltd
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BOE Technology Group Co Ltd
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Priority to PCT/CN2020/076001 priority patent/WO2020220800A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting

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  • Engineering & Computer Science (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application provides a positioning method, a positioning device, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring positioning information corresponding to a plurality of positioning beacons; determining the target position of the target to be positioned according to the positioning information; calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance; and comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correcting the original reference value of the positioning beacon according to the comparison result so as to perform next positioning by using the corrected original reference value. By the method, the reference value of the positioning beacon can be automatically corrected, so that the positioning precision is gradually improved, and the technical problem that the positioning precision is reduced due to the influence of the positioning beacon on the positioning precision in the prior art is solved.

Description

Positioning method, positioning device, computer equipment and storage medium
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, a computer device, and a storage medium.
Background
Satellite positioning technologies such as a global positioning system, galileo, beidou and the like realize accurate outdoor positioning, but because satellite signals reach the ground weakly and cannot penetrate through buildings, the satellite positioning technology cannot realize indoor positioning, and therefore, the indoor positioning technology comes up to the end.
The beacon positioning technology is a common indoor positioning technology, and positioning is realized by arranging a positioning beacon indoors. The positioning beacon has a great influence on the positioning accuracy, and when the positioning beacon is influenced by an obstacle and the signal strength of the positioning beacon is weakened, the positioning accuracy is reduced. In the beacon positioning technology, the most effective way to improve the positioning accuracy is to increase the density of the positioning beacons, however, this increases the cost of the positioning system, and therefore, how to improve the positioning accuracy in the case of fixing the positioning beacons becomes a problem to be solved urgently.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the present application provides a positioning method, an apparatus, a computer device, and a storage medium, which are used to solve the technical problem in the prior art that positioning accuracy is reduced due to the influence of a positioning beacon itself on the positioning accuracy.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a positioning method, including:
acquiring positioning information corresponding to a plurality of positioning beacons;
determining the target position of the target to be positioned according to the positioning information;
calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance;
and comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correcting the original reference value of the positioning beacon according to the comparison result so as to perform next positioning by using the corrected original reference value.
According to the positioning method, the positioning information corresponding to the plurality of positioning beacons is obtained, the target position of the target to be positioned is determined according to the positioning information, the beacon reference value of each positioning beacon is calculated according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons which are stored in advance, then the beacon reference value of each positioning beacon is compared with the original reference value of the corresponding positioning beacon, the original reference value of the positioning beacon is corrected according to the comparison result, and the corrected original reference value is used for next positioning. Therefore, the beacon reference value of each positioning beacon is calculated in the positioning process, the original reference value of each positioning beacon is corrected according to the determined beacon reference value, the corrected reference value is utilized for subsequent positioning, the automatic correction of the positioning beacon reference value is realized, the positioning precision is gradually improved, the influence of the reference value of each positioning beacon on the positioning precision is considered, and the technical problem of poor positioning precision caused by inaccurate reference value is solved.
To achieve the above object, a second aspect of the present application provides a positioning device, including:
the acquisition module is used for acquiring positioning information corresponding to a plurality of positioning beacons;
the first determining module is used for determining the target position of the target to be positioned according to the positioning information;
the second determining module is used for calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance;
and the correction module is used for comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, correcting the original reference value of the positioning beacon according to the comparison result, and performing next positioning by using the corrected original reference value.
According to the positioning device, the positioning information corresponding to the plurality of positioning beacons is obtained, the target position of the target to be positioned is determined according to the positioning information, the beacon reference value of each positioning beacon is calculated according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons which are stored in advance, then the beacon reference value of each positioning beacon is compared with the original reference value of the corresponding positioning beacon, the original reference value of the positioning beacon is corrected according to the comparison result, and the corrected original reference value is used for next positioning. Therefore, the beacon reference value of each positioning beacon is calculated in the positioning process, the original reference value of each positioning beacon is corrected according to the determined beacon reference value, the corrected reference value is utilized for subsequent positioning, the automatic correction of the positioning beacon reference value is realized, the positioning precision is gradually improved, the influence of the reference value of each positioning beacon on the positioning precision is considered, and the technical problem of poor positioning precision caused by inaccurate reference value is solved.
To achieve the above object, a third aspect of the present application provides a computer device, including: a processor and a memory; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the positioning method according to the embodiment of the first aspect.
To achieve the above object, a fourth aspect of the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the positioning method according to the first aspect.
To achieve the above object, a fifth aspect of the present application provides a computer program product, where instructions of the computer program product, when executed by a processor, implement the positioning method according to the first aspect.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1(a) is a diagram illustrating an example of a location between a layout of a positioning beacon and an object to be positioned when the positioning beacon is abnormal;
FIG. 1(b) is an exemplary diagram of the location between the layout of the positioning beacons and the target to be positioned when there is an anomaly in the positioning beacons;
fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a positioning method according to another embodiment of the present application;
fig. 4 is a schematic flowchart of a positioning method according to another embodiment of the present application;
fig. 5 is a schematic flowchart of a positioning method according to yet another embodiment of the present application;
fig. 6 is a diagram illustrating a structure of a positioning system for implementing a positioning method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a positioning device according to another embodiment of the present application; and
fig. 9 is a schematic structural diagram of a positioning device according to another embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A positioning method, an apparatus, a computer device, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings.
In an indoor positioning technology based on a Received Signal Strength Indicator (RSSI), a three-point positioning algorithm is widely adopted due to simple calculation. Normally, when the target to be positioned enters the positioning area, the strongest signal strength value acquired by the target to be positioned should be the positioning signals transmitted by the three adjacent positioning beacons which are closest to the target to be positioned, as shown in fig. 1 (a). In fig. 1(a), dots 1 to 7 indicate positioning beacons, and the larger the dot is, the stronger the signal strength is, and "anterior" indicates a target to be positioned. When the positioning beacon is abnormal or the reference value of the positioning beacon is deviated, for example, the reference value of a certain positioning beacon is lowered or the positioning beacon is damaged, the situation as shown in fig. 1(b) may occur. As can be seen from fig. 1(b), the three positioning beacons with the strongest signal strengths are not the positioning beacon closest to the target to be positioned, and positioning the target to be positioned according to the three positioning beacons with the strongest signal strengths may result in inaccurate positioning. Therefore, the positioning beacon has a great influence on the positioning accuracy.
In order to solve the above problem, the present application provides a positioning method, which corrects an original reference value of a positioning beacon by determining a beacon reference value of the positioning beacon, and then performs subsequent positioning by using the corrected original reference value, thereby facilitating improvement of positioning accuracy and reducing the probability of reduction of positioning accuracy caused by the positioning beacon.
Fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application, where the method may be executed by a positioning apparatus according to an embodiment of the present application, and the positioning apparatus may be applied to a computer device, where the computer device may be a mobile device such as a smart phone, a tablet electric device, a wearable device, or a positioning server.
As shown in fig. 2, the positioning method includes the following steps:
step 101, acquiring positioning information corresponding to a plurality of positioning beacons.
In order to realize indoor beacon positioning, a plurality of positioning beacons, such as Wi-Fi positioning beacons, low-power bluetooth positioning beacons, and the like, may be arranged at different positions in an indoor environment such as an underground parking lot, an airport, a shopping mall, and the like, and used for periodically transmitting positioning signals.
The positioning beacon broadcasts positioning information according to a preset time interval, where the positioning information may include information such as a position coordinate of the positioning beacon, a Universal Unique Identifier (UUID) of the positioning beacon, and an RSSI value. When a user holds a mobile terminal and enters an indoor place provided with a positioning beacon and a positioning function is triggered (the mobile terminal held by the user is called a to-be-positioned target), the to-be-positioned target acquires positioning information broadcasted by a plurality of positioning beacons around and sends the acquired positioning information to a positioning device. In this embodiment, the positioning apparatus may obtain the positioning information corresponding to the plurality of positioning beacons from the target to be positioned.
As an example, when the positioning apparatus is applied to a mobile terminal such as a smart phone, after a target to be positioned (i.e., the mobile terminal) acquires positioning information of a plurality of positioning beacons, the acquired positioning information may be directly transmitted to the positioning apparatus.
As an example, when the positioning apparatus is applied to a positioning server, the positioning server may be connected to a target to be positioned through a gateway, and after the target to be positioned acquires positioning information corresponding to a plurality of positioning beacons, the acquired positioning information may be uploaded to the positioning apparatus in the positioning server through the gateway.
And step 102, determining the target position of the target to be positioned according to the positioning information.
In this embodiment, after the positioning device acquires the positioning information corresponding to the plurality of positioning beacons, the target to be positioned may be positioned according to the acquired positioning information, and the target position of the target to be positioned is determined.
As an example, when the positioning information includes the position coordinates of the positioning beacons, the target position of the target to be positioned may be determined by using a least square method according to the position coordinates of each positioning beacon. As an example, when the positioning information includes RSSI values and position coordinates of positioning beacons, three positioning beacons may be selected from the multiple positioning beacons for positioning according to the RSSI values of the positioning beacons, distances from the three positioning beacons to the target to be positioned are calculated according to the position coordinates of the three positioning beacons, and then a triangle centroid method based on a circular model is adopted to determine the target position of the target to be positioned.
As an example, when the positioning information includes a UUID of a positioning beacon, the position coordinates of the positioning beacon corresponding to the UUID included in the positioning information may be obtained according to the UUID of the positioning beacon and a correspondence relationship between the UUID of each positioning beacon and the position coordinates, which is stored in advance, and then the target position of the target to be positioned is determined by using a least square method according to the obtained position coordinates.
It should be noted that the least square method and the circular model-based triangular centroid method are common methods for determining the position of the target to be positioned, and the specific process for determining the position of the target to be positioned by using the least square method and the circular model-based triangular centroid method is not described in detail in the present application.
And 103, calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of a plurality of positioning beacons stored in advance.
The position coordinates of the positioning beacon may be stored in a memory of the positioning apparatus, and the position coordinates stored in the memory have a one-to-one correspondence relationship with the positioning beacon.
In this embodiment, after the target position of the target to be positioned is determined, whether the reference value of each positioning beacon is accurate may be verified by using the determined target position.
Specifically, the distance between each positioning beacon and the target to be positioned may be calculated according to the target position of the target to be positioned and the position coordinates of each positioning beacon, and then the beacon reference value corresponding to each positioning beacon may be determined according to the calculated distance and the positioning information.
It should be noted that, in this embodiment, a specific process for determining a beacon reference value of a positioning beacon will be given in the following, and details are not described here to avoid redundancy.
And 104, comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correcting the original reference value of the positioning beacon according to the comparison result so as to perform next positioning by using the corrected original reference value.
The original reference value of each positioning beacon can be stored in the local memory of the positioning device, and the original reference value of each positioning beacon is in one-to-one correspondence with the positioning beacon, that is, one piece of positioning information uniquely corresponds to one original reference value.
It should be understood that the reference value of the positioning beacon refers to the signal strength when the transmitting end and the receiving end are separated by 1 meter, and the value is a negative value and is in dB, the reference value reflects the state of the positioning beacon itself, and when the state of the positioning beacon changes, the reference value may also change.
In this embodiment, after the beacon reference value of each positioning beacon is determined, for each positioning beacon, the beacon reference value of the positioning beacon may be compared with the original reference value of the positioning beacon, and when a difference between the original reference value of the positioning beacon and the beacon reference value is large, for example, the difference between the original reference value and the beacon reference value is greater than a preset threshold, the beacon reference value of the positioning beacon is determined as a new original reference value of the positioning beacon, so as to implement correction of the original reference value of the positioning beacon, and correspondingly store the new original reference value in the memory.
For example, assuming that for the positioning beacon labeled with reference number 3, the calculated beacon reference value of the positioning beacon 3 is a1, the original reference value of the positioning beacon 3 recorded in the memory is a0, and the difference between a1 and a0 exceeds the preset threshold, a1 instead of a0 is recorded in the memory as the original reference value of the positioning beacon 3. When the positioning device acquires the positioning instruction again, if positioning needs to be performed according to the positioning information of the positioning beacon 3, the original reference value a1 of the positioning beacon 3 is used for positioning during positioning.
In the positioning method of this embodiment, the positioning information corresponding to the plurality of positioning beacons is obtained, the target position of the target to be positioned is determined according to the positioning information, the beacon reference value of each positioning beacon is calculated according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance, the beacon reference value of each positioning beacon is compared with the original reference value of the corresponding positioning beacon, the original reference value of the positioning beacon is corrected according to the comparison result, and the corrected original reference value is used for next positioning. Therefore, the beacon reference value of each positioning beacon is calculated in the positioning process, the original reference value of each positioning beacon is corrected according to the determined beacon reference value, the corrected reference value is utilized for subsequent positioning, the automatic correction of the positioning beacon reference value is realized, the positioning precision is gradually improved, the influence of the reference value of each positioning beacon on the positioning precision is considered, and the technical problem of poor positioning precision caused by inaccurate reference value is solved.
In a possible implementation manner of the embodiment of the present application, the positioning information includes a unique identification code and a signal strength (i.e., an RSSI value) of the positioning beacon, where the unique identification code of the positioning beacon may be a UUID of the positioning beacon or an MAC address of the positioning beacon, and when the target to be positioned is positioned, the target position of the target to be positioned may be determined according to the RSSI value. The following explains a specific implementation process of determining a target position of an object to be positioned according to positioning information with reference to fig. 3.
Fig. 3 is a schematic flowchart of a positioning method according to another embodiment of the present application, and as shown in fig. 3, based on the embodiment shown in fig. 2, step 102 may include the following steps:
step 201, determining a target positioning beacon from a plurality of positioning beacons according to the signal strength.
In this embodiment, the positioning device obtains the positioning information of the plurality of positioning beacons, where the positioning information includes the signal strength and the unique identification code of the positioning beacon, and then the positioning device may determine the target positioning beacon from the plurality of positioning beacons according to the signal strength in each positioning information.
In a possible implementation manner of the embodiment of the present application, the signal strengths may be sorted from large to small, and the positioning beacons corresponding to the signal strengths of the previous preset number are selected as the target positioning beacons. For example, the predetermined number may be 3.
Assuming that the unique identification code of the positioning beacon is represented by the MAC address of the positioning beacon, the positioning information of k positioning beacons (numbered 1 to k) acquired by the positioning device is (RSSI)1，MAC1)、(RSSI2，MAC2)、(RSSI3，MAC3)、……，(RSSIk，MACk). And sequencing the k RSSI values from large to small, and selecting three positioning beacons corresponding to the three RSSI values arranged at the top as target positioning beacons.
Step 202, calculating the distance between the target positioning beacon and the target to be positioned according to the signal strength of the target positioning beacon and the pre-stored original reference value of the target positioning beacon.
The original reference value of the target positioning beacon may be an original reference value (i.e. an uncorrected reference value) recorded in the memory, or may be a corrected reference value, and when the original reference value of the target positioning beacon is uncorrected, it indicates that the state of the target positioning beacon is stable, and the original reference value is not required to be corrected; when the original reference value of the target positioning beacon is the corrected reference value, it indicates that the current original reference value can reflect the real state of the target positioning beacon. In short, whether the original reference value of the target positioning beacon is corrected or not, the original reference value of the target positioning beacon can be adopted to realize more accurate positioning.
In this embodiment, after the target positioning beacon is determined, an original reference value corresponding to the unique identification code of the target positioning beacon may be selected from a plurality of prestored original reference values corresponding to the positioning beacons according to the unique identification code corresponding to the target positioning beacon, and the selected original reference value is used as the original reference value of the target positioning beacon. Furthermore, the positioning device can calculate the distance between the target positioning beacon and the target to be positioned according to the signal strength of the target positioning beacon and the corresponding original reference value.
Specifically, the distance d between the target positioning beacon and the target to be positioned can be calculated according to formula (1).
Figure BDA0002043435700000071
Wherein, A is the original reference value of the target positioning beacon, RSSI is the signal strength of the target positioning beacon, n is the environmental attenuation factor, and A and n are both pre-stored in the memory of the positioning device.
And step 203, acquiring the position coordinate corresponding to the target positioning beacon according to the unique identification code of the target positioning beacon.
In this embodiment, after the target positioning beacon is determined, the position coordinate corresponding to the target positioning beacon may be acquired according to the unique identification code corresponding to the target positioning beacon.
As an example, the location coordinates of each positioning beacon may be stored in advance in a memory of the positioning apparatus, the memory storing therein a correspondence relationship between the unique identification code of the positioning beacon and the location coordinates, so that the location coordinates corresponding to the target positioning beacon may be determined from the unique identification code of the target positioning beacon.
It should be noted that, the execution sequence of step 202 and step 203 is not sequential, and this embodiment only uses the step 203 executed after step 202 as an example to explain the present application, but not as a limitation to the present application.
And 204, determining the target position of the target to be positioned according to the distance between the target positioning beacon and the target to be positioned and the position coordinates corresponding to the target positioning beacon.
For example, when the number of the determined target gear beacons is 3, a weighted triangular centroid algorithm can be adopted to determine the target position of the target to be positioned.
Through analysis and discovery of the radio propagation path loss model, the position of the target to be positioned is determined by utilizing the traditional triangular centroid algorithm, the influence degree of the positioning beacon on the target position of the target to be positioned is not reflected, and the positioning precision is influenced. In this embodiment, a weighted triangular centroid algorithm is used to determine the target position of the target to be positioned, and the degree of influence of each positioning beacon on the target position of the target to be positioned is reflected by using a weighting factor, so as to reflect the internal relationship between the target positioning beacon and the target to be positioned.
Specifically, a calculation formula for determining the target position of the target to be positioned by the sampling weighted triangular centroid algorithm is shown as formula (2).
Figure BDA0002043435700000072
Wherein (x)p，yp) Indicating the target position of the object to be located, (x)m1，ym1)、(xm2，ym2) And (x)m3，ym3) Representing the respective corresponding position coordinates of the three target positioning beacons, dm1Indicating the position of the target positioning beacon 1Coordinate (x)m1，ym1) The distance to the target to be positioned is determined by the signal strength RSSI of the target positioning information 1m1And the corresponding original reference value Am1Calculated by substituting into the above formula (1), dm2Position coordinates (x) of the target positioning beacon 2m2，ym2) Distance to the object to be positioned, dm3Position coordinates (x) of the target positioning beacon 3m3，ym3) Distance to the target to be located.
According to the positioning method, the target positioning beacon is determined from the multiple positioning beacons according to the signal strength, the distance between the target positioning beacon and the target to be positioned is calculated according to the signal strength of the target positioning beacon and the original reference value of the target positioning beacon which is stored in advance, the position coordinate corresponding to the target positioning beacon is obtained according to the unique identification code of the target positioning beacon, and then the target position of the target to be positioned is determined according to the distance between the target positioning beacon and the target to be positioned and the position coordinate corresponding to the target positioning beacon, so that the target position of the target to be positioned can be accurately determined, and the positioning precision is improved.
As can be seen from the foregoing formula (1), the distance between the positioning beacon and the target to be positioned is related to the reference value of the positioning beacon, and when the reference value a of the positioning beacon is large, the calculated distance d is larger than the actual value, whereas when the reference value a of the positioning beacon is small, the calculated distance d is smaller than the actual value. In the embodiment of the present application, after the target position of the target to be positioned is determined, the beacon reference value of each positioning beacon may be calculated by using the target position of the target to be positioned, so as to detect whether the original reference value of the positioning beacon recorded in the memory is accurate. The specific implementation process for calculating the beacon reference value of each positioning beacon in the present embodiment is described in detail below with reference to fig. 4.
Fig. 4 is a schematic flowchart of a positioning method according to another embodiment of the present application, and as shown in fig. 4, based on the embodiment shown in fig. 3, step 103 may include the following steps:
step 301, determining the distance from the target to be positioned to each positioning beacon according to the target position and the position coordinates of the plurality of positioning beacons stored in advance.
The position coordinates of the positioning beacons can be stored in a memory of the positioning device in advance, the position coordinates stored in the memory and the positioning beacons have a one-to-one correspondence relationship, the position coordinates correspond to the unique identification codes of the positioning beacons, and the corresponding position coordinates can be uniquely determined from the memory according to the unique identification codes.
In this embodiment, for each piece of positioning information acquired by the positioning apparatus, according to the unique identification code of the positioning beacon included in the positioning information, a position coordinate corresponding to the unique identification code is acquired from position coordinates of a plurality of pieces of positioning information pre-stored in the memory, and according to the acquired position coordinate and the determined target position of the target to be positioned, the distance from the target to be positioned to each positioning beacon is determined.
Specifically, the distance from the target to be positioned to the positioning beacon may be calculated by using formula (3), where formula (3) is as follows:
Figure BDA0002043435700000081
wherein (x)p，yp) For the target position of the target to be positioned calculated using equation (2), (x)i，yi) Position coordinates for the i-th positioning beacon, DpiAnd i is a positive integer, and i is 1,2, …, k, and k is the number of positioning information corresponding to the positioning beacons acquired by the positioning device.
Step 302, calculating a beacon reference value of each positioning beacon according to the distance from the target to be positioned to each positioning beacon and the signal strength corresponding to each positioning beacon.
In this embodiment, after the distance from the target to be positioned to each positioning beacon is determined, for each positioning beacon, the beacon reference value of the positioning beacon may be determined according to the signal strength (RSSI value) included in the positioning information acquired by the positioning apparatus and the distance from the target to be positioned to the positioning beacon.
Specifically, the beacon reference value of each positioning beacon may be calculated using the following formula (4):
Ai＝RSSIi+10nlogDpi (4)
wherein the RSSIiFor the signal strength of the i-th positioning beacon, DpiThe distance between the target to be positioned and the ith positioning beacon, n represents the environmental attenuation factor, AiThe beacon reference value of the beacon is located for the ith.
In the positioning method of this embodiment, the distance from the target to be positioned to each positioning beacon is determined according to the target position and the position coordinates of the plurality of positioning beacons stored in advance, and then the beacon reference value of each positioning beacon is calculated according to the distance from the target to be positioned to each positioning beacon and the signal strength corresponding to each positioning beacon, so that the beacon reference value that can reflect the true state of the positioning beacon can be determined, and a condition is provided for correcting the reference value of the positioning beacon.
In a possible implementation manner of the embodiment of the present application, for each positioning beacon, it may be determined whether to correct the reference value of the positioning beacon by calculating a change rate of the beacon reference value of the positioning beacon compared to an original reference value. This is described in detail below with reference to fig. 5.
Fig. 5 is a schematic flowchart of a positioning method according to yet another embodiment of the present application, and as shown in fig. 5, step 104 may include the following steps based on the foregoing embodiment:
step 401, determining a reference value change rate of each positioning beacon according to the beacon reference value of each positioning beacon and the original reference value of the corresponding positioning beacon.
The original reference value of the positioning beacon may be stored in a memory of the positioning apparatus in advance, and the memory stores a correspondence between the positioning beacon and the original reference value, for example, the memory may store a correspondence between the unique identification code of the positioning beacon and the original reference value.
In this embodiment, after the beacon reference value of each positioning beacon is determined,for each positioning beacon, the original reference value corresponding to the positioning beacon can be acquired from the memory, and the reference value change rate of the positioning beacon is calculated according to the original reference value and the beacon reference value of the same positioning beacon. For example, the rate of change of the reference value of the positioning beacon is denoted as σiThen, the reference value change rate of the positioning beacon can be calculated by the following equation (5):
Figure BDA0002043435700000091
wherein A isiFor the beacon reference value of the ith positioning beacon, Ai0The original reference value of the beacon is located for the ith.
Step 402, if the reference value change rate of the positioning beacon is greater than a first preset threshold and less than a second preset threshold, determining that the positioning beacon is a positioning beacon to be corrected, wherein the first preset threshold is less than the second preset threshold.
The first preset threshold and the second preset threshold may be preset, for example, the first preset threshold may be set to 0.05, and the second preset threshold may be set to 0.1.
In this embodiment, after determining a reference value change rate of the beacon reference value of each positioning beacon compared to the original reference value, the reference value change rate may be compared with a first preset threshold and a second preset threshold. If the change rate of the reference value of a certain positioning beacon is less than or equal to a first preset threshold value, the original reference value of the positioning beacon is considered to be close to the beacon reference value, and the original reference value is not required to be corrected; if the change rate of the reference value of a certain positioning beacon is greater than a first preset threshold and less than a second preset threshold, the positioning beacon is considered to be abnormal, the original reference value of the positioning beacon needs to be corrected, and the positioning beacon is determined to be a positioning beacon to be corrected; if the change rate of the reference value of a certain positioning beacon is greater than or equal to the second preset threshold, it is determined that the positioning beacon is seriously abnormal, and step 404 is executed.
And step 403, correcting the original reference value by using the beacon reference value of the positioning beacon to be corrected.
In this embodiment, after the positioning beacon to be corrected is determined, the original reference value may be corrected by using the beacon reference value of the positioning beacon to be corrected.
For example, assume that the determined positioning beacon to be corrected is the positioning beacon 5, and the beacon reference value of the positioning beacon 5 is a5The original reference value is A0The original reference value a of the positioning beacon 5 stored in the memory is used0Replaced by the Beacon reference value A of the positioning Beacon 55To enable correction of the reference value of the positioning beacon 5.
And step 404, outputting an alarm signal to remind the abnormality of the positioning beacon if the change rate of the reference value of the positioning beacon is greater than or equal to a second preset threshold value.
In this embodiment, when the change rate of the reference value of a certain positioning beacon is greater than or equal to the second preset threshold, which indicates that the positioning beacon is seriously abnormal, the positioning device outputs an alarm signal to prompt the positioning beacon to be abnormal, so as to prompt a worker to check and replace the abnormal positioning beacon indicated by the alarm signal. The alarm signal comprises a unique identification code corresponding to the positioning beacon with the reference value change rate larger than or equal to the second preset threshold value, so that a worker can conveniently determine the abnormal positioning beacon according to the unique identification code, and then the abnormal positioning beacon is checked and replaced.
In the positioning method of this embodiment, the reference value change rate of each positioning beacon is determined according to the beacon reference value of each positioning beacon and the original reference value of the corresponding positioning beacon, when the reference value change rate of the positioning beacon is greater than a first preset threshold and less than a second preset threshold, the positioning beacon is determined as the positioning beacon to be corrected, where the first preset threshold is less than the second preset threshold, the original reference value is corrected by using the beacon reference value of the positioning beacon to be corrected, and when the reference value change rate of the positioning beacon is greater than or equal to the second preset threshold, an alarm signal is output to perform positioning beacon abnormality reminding, so that automatic correction of the reference value of the abnormal positioning beacon is realized, and timely alarm and rejection of the seriously abnormal positioning beacon are performed, thereby gradually improving the positioning accuracy.
In practical applications, the reference value of the positioning beacon does not change frequently, but due to measurement errors, especially large errors of a single measurement, the correction of the original reference value of the positioning beacon according to the beacon reference value of the single measurement may not be accurate enough. In order to improve the accuracy of correcting the reference value of the positioning beacon, the number of times that the same positioning beacon needs to be corrected may be counted, and when the number of times that the same positioning beacon needs to be corrected reaches a certain value, it may be described that the probability that the reference value of the positioning beacon is deviated is relatively high.
Specifically, on the basis of the embodiment shown in fig. 5, after the positioning beacon to be corrected is determined in step 402, the beacon reference value of the positioning beacon to be corrected may be entered into the correction library, and the number of times to be corrected corresponding to the positioning beacon to be corrected is accumulated by one. Correcting the original reference value by using the beacon reference value of the positioning beacon to be corrected, wherein the correction comprises the following steps: judging whether the times to be corrected corresponding to the positioning beacons to be corrected meet preset beacon correction conditions or not; if the number of times to be corrected corresponding to the positioning beacon to be corrected meets the beacon correction condition, determining an average correction value of the positioning beacon to be corrected according to the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected; and correcting the original reference value of the positioning beacon to be corrected by using the average correction value of the positioning beacon to be corrected.
The preset beacon correction condition may be that the number of times to be corrected corresponding to the to-be-corrected positioning beacon reaches a preset number threshold, or that a ratio of the number of times to be corrected corresponding to the to-be-corrected positioning beacon to the total number of times of determining the beacon reference value of the to-be-corrected positioning beacon reaches a preset ratio threshold (for example, 5%).
In this embodiment, the initial state of the calibration base is empty, the initial value of the number of times to be calibrated is 0, and each time a positioning beacon to be calibrated is determined, whether the positioning beacon to be calibrated is recorded in the calibration base is searched, if no record exists, the positioning beacon to be calibrated is newly added to the calibration base, the current beacon reference value of the positioning beacon to be calibrated is recorded, and the number of times to be calibrated corresponding to the positioning beacon to be calibrated is recorded as 1; if the positioning beacon to be corrected is recorded in the correction library, recording the current beacon reference value of the positioning beacon to be corrected after the positioning beacon to be corrected, and adding one to the number of times to be corrected corresponding to the positioning beacon to be corrected.
For example, a table of the positioning beacon records to be corrected may be recorded in the correction library, as shown in table 1.
TABLE 1
Positioning beacon to be corrected Beacon reference value for correction Number of times to be corrected
Positioning beacon a a1，a2 2
Positioning beacon b b 1 1
On the basis of table 1, it is assumed that the currently determined positioning beacons to be corrected are positioning beacon c and positioning beacon a, and the beacon reference value currently corresponding to positioning beacon c is c1The beacon reference value currently corresponding to the positioning beacon a is a3Then, at the beacon reference value for correction corresponding to the positioning beacon a in table 1, the current beacon reference value a is recorded3Adding one to the number of times of correction of the positioning beacon a, adding a positioning beacon c in table 1, and recording the current beacon reference value c at the beacon reference value for correction corresponding to the positioning beacon c1And the number of times to be corrected corresponding to the positioning beacon c is recorded as 1, as shown in table 2.
TABLE 2
Positioning beacon to be corrected Beacon reference value for correction Number of times to be corrected
Positioning beacon a a1，a2，a3 3
Positioning beacon b b 1 1
Positioning beacon c c 1 1
In this embodiment, each time data of a to-be-corrected positioning beacon is recorded, it is determined whether the to-be-corrected times corresponding to the recorded to-be-corrected positioning beacon meet a preset beacon correction condition, and when the beacon correction condition is met, an average correction value of the to-be-corrected positioning beacon is determined according to a beacon reference value of the to-be-corrected positioning beacon and the to-be-corrected times corresponding to the to-be-corrected positioning beacon. The average correction value of the positioning beacon to be corrected can be calculated by using the following formula (6):
Figure BDA0002043435700000121
wherein A isdjA beacon reference value for correction of the positioning beacon to be corrected recorded in the correction library, t is the corresponding number of times to be corrected of the positioning beacon to be corrected,
Figure BDA0002043435700000122
and averaging the correction values of the positioning beacons to be corrected.
Taking the data recorded in table 2 as an example, assuming that the number of times to be corrected of the positioning beacon a currently satisfies the beacon correction condition, the average correction value of the positioning beacon a is (a)1+a2+a3)/3. Furthermore, the original reference value of the positioning beacon a recorded in the memory may be corrected by using the average correction value of the positioning beacon a, and the average correction value of the positioning beacon a may be used as the positioning beacona corrected original reference value.
Further, after the original reference value of the to-be-corrected positioning beacon is corrected by using the average correction value of the to-be-corrected positioning beacon, the beacon reference value of the to-be-corrected positioning beacon and the to-be-corrected times corresponding to the to-be-corrected positioning beacon in the correction library can be emptied, so that the beacon reference value and the to-be-corrected times of the to-be-corrected positioning beacon are re-recorded after the subsequently corrected positioning beacon is re-determined as the to-be-corrected positioning beacon, and the influence of historical record data on the to-be-corrected positioning beacon is avoided, and therefore the accuracy of reference value correction is influenced. For example, in the above example, after the reference value of the positioning beacon a is corrected, the data related to the positioning beacon a in table 2 may be cleared.
In a possible implementation manner of the embodiment of the present application, if the number of times to be corrected corresponding to the to-be-corrected positioning beacon does not satisfy the preset beacon correction condition, it is further determined whether the duration of the current beacon correction reaches the preset duration, and if the duration reaches the preset duration, the beacon reference value of the to-be-corrected positioning beacon and the number of times to be corrected corresponding to the to-be-corrected positioning beacon in the correction library are emptied. The beacon correction refers to a beacon correction process which is restarted after the correction of the original reference value of the same positioning beacon is finished for the last time; the duration of the beacon correction is the time interval from the moment of finishing the correction of the original reference value of the same positioning beacon to the current moment at the last time; the last time the correction of the original reference value of the same positioning beacon is completed comprises: correcting the original reference value by using the average correction value or correcting the original reference value when the preset time length is reached; the preset time period may be preset, for example, the preset time period may be set to 1 day, 2 days, or the like.
It should be noted that the starting time of this beacon correction is the ending time of the last correction on the same positioning beacon to be corrected, and/or a preset starting time (for example, a zero point every day).
For example, assuming that the preset time duration is one day, the starting time of the initial beacon correction of each positioning beacon is 0:00, if the number of times to be corrected in the initial beacon correction period (for example, 2019.4.15 days 0:00 to 24:00) of the positioning beacon a does not satisfy the beacon correction condition, the beacon reference value and the number of times to be corrected of the positioning beacon a in the initial beacon correction period recorded in the correction library are cleared, and 2019.4.16 days 0:00 is used as the starting time of the second beacon correction of the positioning beacon a. If the positioning beacon a is primarily corrected in 14:30 minutes on 2019.4.15, the starting time for beacon correction on the positioning beacon a again is 2019.4.15 days 14:30 minutes, whether the beacon reference value of the positioning beacon a calculated from 14:30 is needed to be used for correcting the positioning beacon a is counted, the beacon reference value needed to be used for beacon correction is recorded in a correction library, and the number of times to be corrected corresponding to the positioning beacon a is counted again. And if the number of times to be corrected of the positioning beacon a counted between 14: 30-2019.4.16 days 14:30 at 2019.4.15 does not meet the beacon correction condition, emptying the beacon reference value and the number of times to be corrected of the positioning beacon a recorded in the correction library.
It should be noted that, in this embodiment, for each positioning beacon, every time the beacon reference value of the positioning beacon is determined, the total times of determining the beacon reference value of the positioning beacon are accumulated by one, and when the positioning beacon completes beacon correction or beacon correction is not required to be performed on the positioning beacon within a preset time period, the total times of determining the beacon reference value of the positioning beacon are cleared.
Fig. 6 is a diagram illustrating a structure of a positioning system for implementing the positioning method according to the embodiment of the present application. As shown in fig. 6, the positioning system includes: a plurality of positioning beacons (labeled 1 in fig. 6), a target to be positioned (labeled 2 in fig. 6), a gateway (labeled 3 in fig. 6), and a correction processing unit (labeled 4 in fig. 6). Where multiple positioning beacons are deployed indoors, such as at different locations above an underground parking garage, the positioning beacons may be low power bluetooth positioning beacons that broadcast positioning signals at fixed time intervals or upon receiving an instruction to transmit a positioning signal. And a module capable of acquiring the signal intensity of the positioning beacon, such as a bluetooth chip capable of acquiring the signal intensity of the bluetooth positioning beacon, is installed on the target to be positioned. The gateway is an optional component of the positioning system, when the correction processing unit is arranged on the target to be corrected, the positioning system does not need to arrange the gateway, and the target to be corrected directly sends the acquired positioning information to the correction processing unit; when the correction processing unit is arranged on the positioning server, the positioning system is provided with a gateway to send the positioning information acquired by the target to be positioned to the correction processing unit on the positioning server. Fig. 6 is merely illustrative of a positioning system including a gateway and is not intended to limit the present application.
The workflow of the positioning system shown in fig. 6 is: the positioning beacon broadcasts positioning information once every fixed time, wherein the positioning information comprises a unique identification code and signal strength of the positioning beacon. When positioning is needed, the target to be positioned scans surrounding positioning beacons, acquires positioning information broadcasted by the positioning beacons, and sends the acquired positioning information to the correction processing unit through the gateway. The correction processing unit executes the positioning method of the embodiment of the application, positions the target to be positioned according to the received positioning beacon, and corrects the reference value of the positioning beacon so as to gradually improve the positioning accuracy of the positioning system.
In order to realize the above embodiment, the present application further provides a positioning device.
Fig. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
As shown in fig. 7, the positioning device 70 includes: an acquisition module 710, a first determination module 720, a second determination module 730, and a correction module 740.
The obtaining module 710 is configured to obtain positioning information corresponding to a plurality of positioning beacons.
The first determining module 720 is configured to determine a target position of the target to be located according to the positioning information.
The second determining module 730 is configured to calculate a beacon reference value of each positioning beacon according to the target position, the positioning information, and the position coordinates of the plurality of positioning beacons stored in advance.
The correcting module 740 is configured to compare the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correct the original reference value of the positioning beacon according to the comparison result, so as to perform next positioning using the corrected original reference value.
In a possible implementation manner of this embodiment of the present application, the positioning information includes a unique identification code and a signal strength of a positioning beacon, as shown in fig. 8, and on the basis of the embodiment shown in fig. 7, the first determining module 720 includes:
a selecting unit 721 is configured to determine a target positioning beacon from the plurality of positioning beacons according to the signal strength.
The calculating unit 722 is configured to calculate a distance between the target positioning beacon and the target to be positioned according to the signal strength of the target positioning beacon and a pre-stored original reference value of the target positioning beacon.
An obtaining unit 723, configured to obtain, according to the unique identification code of the target positioning beacon, a position coordinate corresponding to the target positioning beacon.
And a position determining unit 724, configured to determine a target position of the target to be positioned according to the distance between the target positioning beacon and the target to be positioned and the position coordinate corresponding to the target positioning beacon.
In a possible implementation manner of the embodiment of the present application, the selecting unit is configured to sort the signal strengths in descending order, and select the positioning beacons corresponding to the signal strengths of the previous preset number as the target positioning beacons. For example, the predetermined number is 3. Furthermore, the position determining unit is specifically configured to determine the target position of the target to be positioned by using a weighted triangular centroid algorithm.
The second determining module 730 includes:
a distance determining unit 731, configured to determine, according to the target position and the position coordinates of the plurality of positioning beacons stored in advance, a distance from the target to be positioned to each positioning beacon.
A reference value determining unit 732, configured to calculate a beacon reference value of each positioning beacon according to a distance from the target to be positioned to each positioning beacon and a signal strength corresponding to each positioning beacon by using the following formula:
Ai＝RSSIi+10nlogDpi；
wherein A isiBeacon reference value, RSSI, for the ith positioning beaconiFor the signal strength of the i-th positioning beacon, DpiN represents an ambient attenuation factor for the distance between the target to be located and the ith positioning beacon.
In a possible implementation manner of the embodiment of the present application, as shown in fig. 9, on the basis of the embodiment shown in fig. 7, the correction module 740 includes:
a change rate determining unit 741, configured to determine a change rate of the reference value of each positioning beacon according to the beacon reference value of each positioning beacon and the original reference value of the corresponding positioning beacon.
A beacon to be corrected determining unit 742 is configured to determine the positioning beacon as the positioning beacon to be corrected when a reference value change rate of the positioning beacon is greater than a first preset threshold and smaller than a second preset threshold, where the first preset threshold is smaller than the second preset threshold.
A correcting unit 743, configured to correct the original reference value by using the beacon reference value of the positioning beacon to be corrected.
In a possible implementation manner of the embodiment of the present application, as shown in fig. 9, the correcting module 740 may further include:
the counting unit 744 is configured to, after determining that the positioning beacon is the to-be-corrected positioning beacon, add the beacon reference value of the to-be-corrected positioning beacon into the correction library, and add one to-be-corrected number of times corresponding to the to-be-corrected positioning beacon.
In this embodiment, the calibration unit 743 is specifically configured to determine whether the number of times to be calibrated corresponding to the to-be-calibrated positioning beacon meets a preset beacon calibration condition; if the number of times to be corrected corresponding to the positioning beacon to be corrected meets the beacon correction condition, determining an average correction value of the positioning beacon to be corrected according to the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected; and correcting the original reference value of the positioning beacon to be corrected by using the average correction value of the positioning beacon to be corrected.
The positioning device 70 further includes:
and the clearing module 750 is configured to clear the beacon reference value of the to-be-corrected positioning beacon and the number of times to be corrected corresponding to the to-be-corrected positioning beacon in the correction library after the original reference value of the to-be-corrected positioning beacon is corrected by using the average correction value of the to-be-corrected positioning beacon.
And the warning module 760 is configured to output a warning signal to perform abnormal location beacon reminding when the change rate of the reference value of the location beacon is greater than or equal to a second preset threshold.
In one possible implementation manner of the embodiment of the present application, the correcting unit 743 is further configured to: if the number of times to be corrected corresponding to the positioning beacon to be corrected does not meet the beacon correction condition, judging whether the duration of the beacon correction reaches a preset duration, wherein the beacon correction refers to a beacon correction process restarted after the correction of the original reference value of the same positioning beacon is finished for the last time, the duration of the beacon correction is a time interval from the time when the correction of the original reference value of the same positioning beacon is finished for the last time to the current time, and the last time when the correction of the original reference value of the same positioning beacon is finished comprises the following steps: and correcting the original reference value by using the average correction value or correcting the original reference value when the preset time length is reached.
The purge module 750 is further configured to: and when the duration of the beacon correction reaches the preset duration, emptying the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected in the correction library.
It should be noted that the foregoing explanation of the embodiment of the positioning method is also applicable to the positioning apparatus of the embodiment, and the implementation principle thereof is similar and will not be described herein again.
According to the positioning device, the positioning information corresponding to the plurality of positioning beacons is obtained, the target position of the target to be positioned is determined according to the positioning information, the beacon reference value of each positioning beacon is calculated according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons which are stored in advance, then the beacon reference value of each positioning beacon is compared with the original reference value of the corresponding positioning beacon, the original reference value of the positioning beacon is corrected according to the comparison result, and the corrected original reference value is used for next positioning. Therefore, the beacon reference value of each positioning beacon is calculated in the positioning process, the original reference value of each positioning beacon is corrected according to the determined beacon reference value, the corrected reference value is utilized for subsequent positioning, the automatic correction of the positioning beacon reference value is realized, the positioning precision is gradually improved, the influence of the reference value of each positioning beacon on the positioning precision is considered, and the technical problem of poor positioning precision caused by inaccurate reference value is solved.
In order to implement the foregoing embodiments, the present application also provides a computer device, including: a processor and a memory. Wherein, the processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the positioning method according to the foregoing embodiment.
In order to implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the positioning method as described in the foregoing embodiments.
In order to implement the foregoing embodiments, the present application also proposes a computer program product, wherein when the instructions of the computer program product are executed by a processor, the positioning method according to the foregoing embodiments is implemented.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (16)

1. A method of positioning, comprising:
acquiring positioning information corresponding to a plurality of positioning beacons;
determining the target position of the target to be positioned according to the positioning information;
calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance;
comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correcting the original reference value of the positioning beacon according to the comparison result so as to perform next positioning by using the corrected original reference value;
the positioning information comprises a unique identification code and signal strength of a positioning beacon, and the determining of the target position of the target to be positioned according to the positioning information comprises the following steps:
determining a target positioning beacon from a plurality of positioning beacons according to the signal strength;
calculating the distance between the target positioning beacon and the target to be positioned according to the signal intensity of the target positioning beacon and a pre-stored original reference value of the target positioning beacon;
acquiring a position coordinate corresponding to the target positioning beacon according to the unique identification code of the target positioning beacon;
determining the target position of the target to be positioned according to the distance between the target positioning beacon and the target to be positioned and the position coordinates corresponding to the target positioning beacon;
the calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance comprises:
determining the distance from the target to be positioned to each positioning beacon according to the target position and the position coordinates of the plurality of positioning beacons which are stored in advance;
calculating a beacon reference value of each positioning beacon by adopting the following formula according to the distance from the target to be positioned to each positioning beacon and the signal strength corresponding to each positioning beacon:
Ai＝RSSIi+10n log Dpi；
wherein Ai is a beacon reference value of the ith positioning beacon, RSSIi is the signal strength of the ith positioning beacon, Dpi is the distance from the target to be positioned to the ith positioning beacon, and n represents an environment attenuation factor.
2. The method of claim 1, wherein said determining a target positioning beacon from a plurality of positioning beacons based on said signal strength comprises:
sequencing the signal strengths in a descending order, and selecting the positioning beacons corresponding to the signal strengths of the preset number as target positioning beacons;
the determining the target position of the target to be positioned includes:
and determining the target position of the target to be positioned by adopting a weighted triangular centroid algorithm.
3. The method of claim 1, wherein comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, and correcting the original reference value of the positioning beacon according to the comparison result comprises:
determining the change rate of the reference value of each positioning beacon according to the beacon reference value of each positioning beacon and the original reference value of the corresponding positioning beacon;
if the reference value change rate of the positioning beacon is greater than a first preset threshold and less than a second preset threshold, determining that the positioning beacon is a positioning beacon to be corrected, wherein the first preset threshold is less than the second preset threshold;
and correcting the original reference value by using the beacon reference value of the positioning beacon to be corrected.
4. The positioning method according to claim 3, further comprising, after said determining that said positioning beacon is a positioning beacon to be corrected:
the beacon reference value of the positioning beacon to be corrected is added into a correction library, and the times to be corrected corresponding to the positioning beacon to be corrected are accumulated by one;
the correcting the original reference value by using the beacon reference value of the positioning beacon to be corrected comprises:
judging whether the number of times to be corrected corresponding to the positioning beacon to be corrected meets a preset beacon correction condition or not;
if the number of times to be corrected corresponding to the positioning beacon to be corrected meets the beacon correction condition, determining an average correction value of the positioning beacon to be corrected according to the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected;
and correcting the original reference value of the positioning beacon to be corrected by using the average correction value of the positioning beacon to be corrected.
5. The positioning method according to claim 4, further comprising, after said correcting the original reference value of the to-be-corrected positioning beacon by using the average correction value of the to-be-corrected positioning beacon:
and clearing the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected in the correction library.
6. The positioning method according to claim 4, wherein after determining whether the number of times to be corrected corresponding to the positioning beacon to be corrected satisfies a preset beacon correction condition, the method further comprises:
if the number of times to be corrected corresponding to the positioning beacon to be corrected does not meet the beacon correction condition, judging whether the duration of the beacon correction reaches a preset duration, wherein the beacon correction refers to a beacon correction process restarted after the correction of the original reference value of the same positioning beacon is completed for the last time, the duration of the beacon correction is a time interval from the time when the correction of the original reference value of the same positioning beacon is completed for the last time to the current time, and the last completion of the correction of the original reference value of the same positioning beacon comprises the following steps: correcting the original reference value by using the average correction value or correcting the original reference value when the preset time length is reached;
and if so, clearing the beacon reference value of the positioning beacon to be corrected and the times to be corrected corresponding to the positioning beacon to be corrected in the correction library.
7. The positioning method of claim 3, further comprising, after said determining a rate of change of reference values for said each positioning beacon:
and if the reference value change rate of the positioning beacon is greater than or equal to the second preset threshold value, outputting an alarm signal to prompt the positioning beacon to be abnormal.
8. A positioning device, comprising:
the acquisition module is used for acquiring positioning information corresponding to a plurality of positioning beacons;
the first determining module is used for determining the target position of the target to be positioned according to the positioning information;
the second determining module is used for calculating a beacon reference value of each positioning beacon according to the target position, the positioning information and the position coordinates of the plurality of positioning beacons stored in advance;
the correction module is used for comparing the beacon reference value of each positioning beacon with the original reference value of the corresponding positioning beacon, correcting the original reference value of the positioning beacon according to the comparison result and carrying out next positioning by using the corrected original reference value;
the positioning information includes a unique identification code and signal strength of a positioning beacon, and the first determining module includes:
a selecting unit, configured to determine a target positioning beacon from a plurality of positioning beacons according to the signal strength;
a calculating unit, configured to calculate a distance between the target positioning beacon and the target to be positioned according to the signal strength of the target positioning beacon and a pre-stored original reference value of the target positioning beacon;
the acquisition unit is used for acquiring the position coordinates corresponding to the target positioning beacon according to the unique identification code of the target positioning beacon;
the position determining unit is used for determining the target position of the target to be positioned according to the distance between the target positioning beacon and the target to be positioned and the position coordinates corresponding to the target positioning beacon;
the second determining module includes:
the distance determining unit is used for determining the distance from the target to be positioned to each positioning beacon according to the target position and the position coordinates of the plurality of positioning beacons stored in advance;
a reference value determining unit, configured to calculate, according to a distance from the target to be positioned to each positioning beacon and a signal strength corresponding to each positioning beacon, a beacon reference value of each positioning beacon by using the following formula:
Ai＝RSSIi+10n log Dpi；
wherein Ai is a beacon reference value of the ith positioning beacon, RSSIi is the signal strength of the ith positioning beacon, Dpi is the distance from the target to be positioned to the ith positioning beacon, and n represents an environment attenuation factor.
9. The positioning apparatus according to claim 8, wherein the selection unit is specifically configured to:
sequencing the signal strengths in a descending order, and selecting the positioning beacons corresponding to the signal strengths of the preset number as target positioning beacons;
the position determining unit is specifically configured to:
and determining the target position of the target to be positioned by adopting a weighted triangular centroid algorithm.
10. The positioning device of claim 8, wherein the correction module comprises:
a change rate determining unit, configured to determine a change rate of the reference value of each positioning beacon according to the beacon reference value of each positioning beacon and the original reference value of the corresponding positioning beacon;
a beacon to be corrected determining unit, configured to determine, when the reference value change rate of a positioning beacon is greater than a first preset threshold and smaller than a second preset threshold, that the positioning beacon is a positioning beacon to be corrected, where the first preset threshold is smaller than the second preset threshold;
and the correcting unit is used for correcting the original reference value by using the beacon reference value of the positioning beacon to be corrected.
11. The positioning device of claim 10, wherein the correction module further comprises:
the counting unit is used for inputting the beacon reference value of the positioning beacon to be corrected into a correction library after the positioning beacon is determined to be the positioning beacon to be corrected, and accumulating the times to be corrected corresponding to the positioning beacon to be corrected by one;
the correction unit is specifically configured to:
judging whether the number of times to be corrected corresponding to the positioning beacon to be corrected meets a preset beacon correction condition or not;
if the number of times to be corrected corresponding to the positioning beacon to be corrected meets the beacon correction condition, determining an average correction value of the positioning beacon to be corrected according to the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected;
and correcting the original reference value of the positioning beacon to be corrected by using the average correction value of the positioning beacon to be corrected.
12. The positioning device of claim 11, further comprising:
and the clearing module is used for clearing the beacon reference value of the positioning beacon to be corrected and the times to be corrected corresponding to the positioning beacon to be corrected in the correction library after the average correction value of the positioning beacon to be corrected is used for correcting the original reference value of the positioning beacon to be corrected.
13. The positioning device of claim 12, wherein the correction unit is further configured to:
if the number of times to be corrected corresponding to the positioning beacon to be corrected does not meet the beacon correction condition, judging whether the duration of the beacon correction reaches the preset duration or not;
the clearing module is further configured to:
when the duration of the beacon correction reaches a preset duration, emptying the beacon reference value of the positioning beacon to be corrected and the number of times to be corrected corresponding to the positioning beacon to be corrected in the correction library, wherein the beacon correction refers to a beacon correction process restarted after the correction of the original reference value of the same positioning beacon is completed for the last time, the duration of the beacon correction is a time interval from the time when the correction of the original reference value of the same positioning beacon is completed for the last time to the current time, and the last completion of the correction of the original reference value of the same positioning beacon comprises the following steps: and correcting the original reference value by using the average correction value or correcting the original reference value when the preset time length is reached.
14. The positioning device of claim 10, further comprising:
and the alarm module is used for outputting an alarm signal to carry out positioning beacon abnormity reminding when the change rate of the reference value of the positioning beacon is greater than or equal to the second preset threshold value.
15. A computer device comprising a processor and a memory;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the positioning method according to any one of claims 1 to 7.
16. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the positioning method according to any one of claims 1 to 7.
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