CN110300369A - Localization method and system based on bluetooth technology with low power consumption - Google Patents
Localization method and system based on bluetooth technology with low power consumption Download PDFInfo
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- CN110300369A CN110300369A CN201910582364.8A CN201910582364A CN110300369A CN 110300369 A CN110300369 A CN 110300369A CN 201910582364 A CN201910582364 A CN 201910582364A CN 110300369 A CN110300369 A CN 110300369A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of localization method and system based on bluetooth technology with low power consumption, it is related to field of communication technology, the precision of positioning can be improved, a kind of localization method based on bluetooth technology with low power consumption, it include: the position according to the first beacon, and first direction, determine the position of the second beacon；Successively obtain multiple signal values of the first beacon, multiple signal values of the second beacon are successively obtained simultaneously, and according to multiple signal values of the first beacon, obtain N number of relative distance of the first beacon and tested point, according to multiple signal values of the second beacon, N number of relative distance of the second beacon and tested point is obtained；According to i-th of relative distance of i-th of the relative distance and the second beacon of the first beacon and tested point and tested point, i-th of Weighted distance of the first beacon and tested point is calculated；According to i-th of Weighted distance of initial velocity and the first beacon and tested point, j-th coordinate position and corresponding speed of the tested point along first direction are successively obtained.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of localization method based on bluetooth technology with low power consumption and it is
System.
Background technique
In the large-scale parking garage such as market or other parking garages, due to blocking for building, people can not
Location navigation is carried out using GPS (Global Positioning System, global positioning system), and parking lot is throughout the room
Construction it is again quite similar so that people easily get lost in parking lot indoors, waste a large amount of energy and finding parking stall
In reverse car search.
Currently, the interior based on the realization of the technologies such as bluetooth, WiFi, super-broadband tech, video that has that may replace GPS solution is determined
Position scheme, WiFi positioning need additionally to establish base station, although ultra wide band positioning and video location positioning accuracy are higher, but all
Additional hardware facility need to be put into, cost is high, and difficulty of construction is big, and therefore, bluetooth positioning is receive more and more attention.
Summary of the invention
The embodiment of the present invention provides a kind of localization method and system based on bluetooth technology with low power consumption, and positioning can be improved
Precision.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
On the one hand, the embodiment provides a kind of localization methods based on bluetooth technology with low power consumption, comprising: according to
The position of first beacon and first direction determine the position of the second beacon；First beacon refers to what tested point passed through
A nearest beacon, the first direction are used to indicate the moving direction of tested point with its distance, what second beacon referred to
It is along first direction and the smallest beacon of the first beacon distance；Multiple signal values of first beacon are successively obtained, together
Shi Yici obtains multiple signal values of second beacon, and according to multiple signal values of first beacon, obtains described
N number of relative distance of one beacon and tested point, according to multiple signal values of second beacon, obtain first beacon with to
N number of relative distance of measuring point；The signal value is Bluetooth information intensity；According to i-th of phase of first beacon and tested point
I-th of the relative distance adjusted the distance with second beacon and tested point, is calculated the i-th of first beacon and tested point
A Weighted distance；Wherein, i is the positive integer of the value since 1, and i≤N；When obtaining tested point by first beacon
Initial velocity；According to i-th of Weighted distance of the initial velocity and first beacon and tested point, tested point is successively obtained
J-th of coordinate position and corresponding speed along the first direction；J >=i+1, and j is positive integer.
Optionally, the multiple signal values for successively obtaining first beacon, according to multiple signal values of first beacon,
Obtain N number of relative distance of first beacon and tested point, comprising: multiple signal values of first beacon are successively obtained,
The signal value for being less than first threshold is deleted, N number of signal value in remaining signal value is obtained；For the N number of of first beacon
Signal value, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st the first correction value；If m-th of signal value and
The absolute value of the difference of m-1 signal value is less than or equal to second threshold, then using m-th of signal value as m-th of first correction values；
N >=m >=2, and m is positive integer；If the absolute value of the difference of m-th of signal value and the m-1 signal value is greater than second threshold,
By the mean value of m-1 signal value and the m+1 signal value, as m-th of first correction values, and by the N-2 signal value and
The mean value of the N-1 signal value, as the first correction value of n-th；N-1≥m≥2；N number of first correction value is carried out smooth
Processing, is calculated N number of first smooth value；According to N number of first smooth value, the N of first beacon and tested point is calculated
A relative distance；The multiple signal values for successively obtaining second beacon are obtained according to multiple signal values of second beacon
N number of relative distance of second beacon and tested point, comprising: the multiple signal values for successively obtaining second beacon, it will be small
It is deleted in the signal value of first threshold, obtains N number of signal value in remaining signal value；For N number of signal of second beacon
Value, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st the second correction value；If m-th of signal value and m-1
The absolute value of the difference of a signal value is less than or equal to second threshold, then using m-th of signal value as m-th of second correction values；N≥
M >=2, and m is positive integer；It, will if the absolute value of the difference of m-th of signal value and the m-1 signal value is greater than second threshold
The mean value of m-1 signal value and the m+1 signal value, as m-th of second correction values, and by N-2 signal value and
The mean value of N-1 signal value, as the second correction value of n-th；N-1≥m≥2；N number of second correction value is smoothly located
Reason, is calculated N number of second smooth value；According to N number of second smooth value, the N number of of second beacon and tested point is calculated
Relative distance.
Optionally, N number of first correction value is smoothed, N number of first smooth value is calculated, comprising: when 1
≤ x≤3, and x be positive integer when, using x-th of first correction values as x-th of first smooth values；As 4≤x≤N, and x be positive it is whole
When number, according toTo xth
A first correction value is smoothed, and it is A_RSSI " that x-th of first smooth values, which are calculated,x；Wherein, A_RSSI 'x-1It is
X-1 the first correction values, A_RSSI 'x-2For -2 the first correction values of xth, A_RSSI 'x-3For -3 the first correction values of xth, k0
=4, k1=3, k2=2, k3=1.
Optionally, according to N number of first smooth value, N number of relative distance of first beacon and tested point is calculated, wraps
It includes: according to Δ A_RSSI "x=A_RSSI "x-A_RSSImax, x-th of first smooth value A_RSSI " are calculatedxIt is corresponding opposite
Variable quantity is Δ A_RSSI "x；A_RSSImaxFor the signal peak of first beacon；According to Δ A_RSSI "x10 × b of=- (×
lgdAx+ a), x-th of the relative distance that first beacon and tested point is calculated is dAx；Wherein, a and b is environmental coefficient.
Optionally, N number of second correction value is smoothed, N number of second smooth value is calculated, comprising: when 1
≤ x≤3, and x be positive integer when, using x-th of first correction values as x-th of first smooth values；As 4≤x≤N, and x be positive it is whole
When number, according toX-th second are corrected
Value is smoothed, and it is B_RSSI " that x-th of second smooth values, which are calculated,x；
Wherein, B_RSSI 'x-1For -1 the second correction value of xth, B_RSSI 'x-2For -2 the second correction values of xth, B_
RSSI′x-3For -3 the second correction values of xth.
Optionally, according to N number of second smooth value, N number of relative distance of second beacon and tested point is calculated, wraps
It includes: according to Δ B_RSSI "x=B_RSSI "x-B_RSSImax, x-th of first smooth value B_RSSI " are calculatedxIt is corresponding opposite
Variable quantity is Δ B_RSSI "x；B_RSSImaxFor the signal peak of second beacon；According to Δ B_RSSI "x10 × b of=- (×
lgdBx+ a), x-th of the relative distance that second beacon and tested point is calculated is dBx。
Optionally, according to i-th of the relative distance and second beacon and tested point of first beacon and tested point
I-th of relative distance, i-th of Weighted distance of first beacon and tested point is calculated, comprising: more described first
The size of i-th of relative distance of i-th of the relative distance and second beacon and tested point of beacon and tested point；If described
I-th of relative distance of the first beacon and tested point is smaller, then according to i-th of first beacon and tested point it is opposite away from
From, first beacon, i-th of first weights corresponding with i-th of relative distance of tested point and first beacon and
I-th of Weighted distance of first beacon and tested point is calculated in third relative distance between second beacon；Institute
It states the first weight and refers to i-th of relative distance for being directed to first beacon and tested point, calculate the amendment degree of error；If
I-th of relative distance of second beacon and tested point is smaller, then opposite according to i-th of second beacon and tested point
Distance, second beacon, i-th of second weights corresponding with i-th of relative distance of tested point and first beacon
I-th of weighting of second beacon and tested point is calculated in the third relative distance between second beacon
I-th of Weighted distance of first beacon and tested point is calculated further according to the third relative distance in distance；It is described
Second weight refers to i-th of the relative distance for second beacon and tested point, calculates the amendment degree of error.
Optionally, if i-th of relative distance of first beacon and tested point is smaller, according to first beacon with
I-th of relative distance of tested point, first beacon, i-th of first weights corresponding with i-th of relative distance of tested point,
And the third relative distance between first beacon and second beacon, first beacon and tested point is calculated
I-th of Weighted distance, comprising: according toBe calculated first beacon with it is to be measured
Corresponding i-th of first weights of i-th of relative distance of point are wAi；ΔA_RSSI″iI-th for first beacon is smooth
It is worth corresponding relative variation, Δ B_RSSI "iFor the corresponding relative variation of i-th of smooth value of second beacon；According to
DAi=dAi+(s-dAi-dBi)×wAi, i-th of Weighted distance that first beacon and tested point is calculated is DAi；Wherein, s
The third relative distance between first beacon and second beacon, dAiFor first beacon and tested point
I-th of relative distance, dBiFor i-th of relative distance of second beacon and tested point.
Optionally, if i-th of relative distance of second beacon and tested point is smaller, according to second beacon with
I-th of relative distance of tested point, second beacon, i-th of second weights corresponding with i-th of relative distance of tested point,
And the third relative distance between first beacon and second beacon, be calculated second beacon with to
The i-th of first beacon and tested point is calculated further according to the third relative distance in i-th of Weighted distance of measuring point
A Weighted distance, comprising: according toSecond beacon and tested point is calculated
Corresponding i-th of second weights of i-th of relative distance are wBi；According to DBi=dBi+(s-dAi-dBi)×wBi, it is calculated described
I-th of Weighted distance of the second beacon and tested point is DBi；According to DAi=s-DBi, be calculated first beacon with it is to be measured
I-th of Weighted distance of point is DAi。
Optionally, obtain tested point pass through first beacon when initial velocity, comprising: according to third beacon with it is described
The 4th relative distance and tested point of first beacon pass through the time difference of the third beacon and first beacon, calculate
Obtained average speed passes through initial velocity when first beacon as tested point；The third beacon is tested point warp
Cross a nearest beacon of the first beacon described in the distance passed through before first beacon.
Optionally, according to i-th of Weighted distance of the initial velocity and first beacon and tested point, karr is utilized
Graceful filtering algorithm successively obtains j-th coordinate position and corresponding speed of the tested point along the first direction, comprising: establishes
System state equationObtain the corresponding relationship of two adjacent groups coordinate position and speed；Wherein, xj-1For
Along -1 coordinate position of jth of the first direction, xjFor along j-th of coordinate position of the first direction, vj-1For jth -1
The corresponding speed of tested point, v at a coordinate positionjFor the corresponding speed of tested point at j-th of coordinate position, Δ j is tested point
The time difference from j-th of coordinate position, and v are moved to from -1 coordinate position of jthj-1=v0+ ε, v0For the initial velocity, ε
For velocity variable；Establish observational equationAccording to i-th of weighting of first beacon and tested point
J-th seat of the tested point along the first direction is calculated using the system state equation and the observational equation in distance
Mark is set to xAjAnd corresponding speed is vAj。
On the other hand, the embodiment of the present invention provides a kind of computer equipment, including storage unit and processing unit；Storage
The computer program that can be run on a processing unit and storage result are stored in unit；Processing unit executes the computer program
For example above-mentioned localization method based on bluetooth technology with low power consumption of Shi Shixian.
In another aspect, the embodiment of the present invention provides a kind of computer-readable medium, it is stored with computer program, is calculated
It realizes when machine program is executed by processor as described above based on the localization method of bluetooth technology with low power consumption.
Another aspect.The embodiment of the present invention provides a kind of positioning system based on bluetooth technology with low power consumption, comprising: scanning
Device, beacon, terminal and server；The scanner is configured to scanning license board information, and sends license plate letter to the server
Breath；The beacon is configured to continue broadcast signal values；The terminal is configured to receive the signal value of the beacon, to the service
The signal value for the beacon that device transmits and receives；The server includes memory and processor, and the memory storage can
The computer program and storage result run on the processor；When the processor is configured to execute the computer program
It realizes as described above based on the localization method of bluetooth technology with low power consumption；The processor is additionally configured to the coordinate according to tested point
Position, that is, corresponding speed obtains positioning result, and positioning result is sent to the terminal, so that terminal display positioning
As a result.The embodiment of the present invention provides a kind of localization method and system based on bluetooth technology with low power consumption, firstly, according to the first letter
Target position and first direction determine the position of the second beacon；Again using the lesser preprocess method processing acquisition of operand
Multiple signal values of first beacon and the second beacon, reduce signal value measurement otherness, then, be calculated the first beacon with
N number of relative distance, the N number of relative distance of the second beacon and tested point of tested point distribute weight, realize weighting positioning, calculate
Obtain i-th of Weighted distance between the first beacon and tested point；Secondly, being estimated according to the continuity features of moving process initial
Speed, and the dynamic coordinate position of tested point and corresponding speed are obtained with lesser operand, realize positioning, and improve positioning
Precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that a kind of scene for parking garage that the embodiment of the present invention provides abstracts schematic diagram；
Fig. 2 is a kind of process signal for localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 3 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 4 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 5 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 6 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 7 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 8 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Fig. 9 is the process signal for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides
Figure；
Figure 10 is that the process for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides is shown
It is intended to；
Figure 11 is that the process for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides is shown
It is intended to；
Figure 12 is that the scene for another parking garage that the embodiment of the present invention provides abstracts schematic diagram；
Figure 13 is that the process for another localization method based on bluetooth technology with low power consumption that the embodiment of the present invention provides is shown
It is intended to；
Figure 14 is a kind of schematic diagram for positioning system based on bluetooth technology with low power consumption that the embodiment of the present invention provides.
Appended drawing reference:
1- scanner；2- beacon；3- terminal；4- server；41- memory；42- processor.
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.
Low-power consumption bluetooth (Bluetooth Low Energy, BLE) is a branch technique of bluetooth, is absorbed in low function
Consumption, the scene of low power communication, compared to classical bluetooth, the power consumption of bluetooth technology with low power consumption is lower, is particularly suited for interior and stops
Parking lot.
Parking lot indoors when being positioned using bluetooth technology with low power consumption, needs the road and intersection in parking lot indoors
Multiple beacons using bluetooth technology with low power consumption are arranged in crossing, and beacon continues broadcast message.Wherein, in order to ensure beacon
Broadcast message propagated along road direction, do not blocked as far as possible, beacon need to be arranged at higher position, such as can be set
At the position at the high position in 3 meters of ground or close to roof.Further, since the information propagation distance of beacon is limited,
Therefore, when the distance between beacon of two intersections farther out when, a beacon need to be added among two beacons, such as
When the distance between beacon of two intersections is more than 20 meters, then increase a beacon in middle position.
After setting beacon, entire parking garage scene can be abstracted, to simplify position fixing process.Firstly, by
It is that therefore, parking lot can be reduced to by bar shaped and blocky area on road in the zone of action of location navigation in parking lot
The plan view that domain is constituted, as shown in Figure 1, bar shaped represents road, and boxed area represents other regions such as parking stall.Secondly, will
The beacon that road and intersection is arranged in is reduced to dot.Then, vehicle is reduced to mobile tested point.
Based on above-mentioned, the embodiment of the present invention provides a kind of localization method based on bluetooth technology with low power consumption, such as Fig. 2 institute
Show, comprising:
The position and first direction of S10, mobile terminal according to the first beacon, determine the position of the second beacon.First letter
Mark refers to that the beacon nearest with its distance that tested point passes through, first direction are used to indicate the moving direction of tested point,
Second beacon is referred to along first direction and the smallest beacon of the first beacon distance.
Mobile terminal can be mobile phone, computer, Vehicular display device etc., as long as the information of beacon broadcast can be received, this
Invention does not limit this.
It should be noted that when parking, mobile terminal Following Car and move, at this point, vehicle and mobile terminal are tested point,
The moving direction of vehicle and mobile terminal is the moving direction of tested point.
In addition, the moving direction of tested point, that is, first direction can pass through the information of geomagnetic sensor and accelerometer
Fusion obtains.
It is exemplary, as shown in Figure 1, tested point is indicated by P if the first beacon is in figure at dot position indicated by A
Dot position at, and acquire tested point P and moved along the direction I, then first direction is I.Thus, it is possible to determine with to
The movement of measuring point P will reach at dot position indicated by B, hence, it can be determined that point B is the second beacon.
S20, the multiple signal values for successively obtaining the first beacon, while multiple signal values of the second beacon are successively obtained, and
According to multiple signal values of the first beacon, N number of relative distance of first beacon and tested point is obtained, according to the second beacon
Multiple signal values obtain N number of relative distance of the second beacon and tested point.Signal value is Bluetooth information intensity.
It should be noted that relative distance is the shortest distance of beacon and tested point in same level.Signal value refers to
Be beacon RSSI (Received Signal Strength Indicator) value, that is, Bluetooth information intensity.
The realization of RSSI is carried out after backward channel Baseband Receiver filter.In order to obtain the spy of reverse signal
Sign, has done following processing in the specific implementation for determining RSSI value: carrying out baseband I Q power integral in 104us (microsecond) and obtains
RSSI instantaneous value, i.e. RSSI (instantaneous value)=I2+Q2；Then 8192 RSSI instantaneous values are averagely obtained in about 1 second
RSSI average value, i.e. the sum of average value=8192 RSSI RSSI instantaneous value/8192, while providing RSSI instantaneous value in 1 second
Maximum value and RSSI instantaneous value are greater than ratio when a certain thresholding, i.e. number/8192 of the RSSI instantaneous value greater than a certain thresholding.By
It is that power integral is then counter shifts what antenna opening obtained by carrying out in numeric field in RSSI value, backward channel signal transmission characteristics
The inconsistent precision that will affect RSSI therefore positioned using RSSI value, refer to and measured by the signal strength or weakness that receives
Beacon at a distance from tested point, and then according to corresponding data carry out location Calculation a kind of location technology.
It is exemplary, it is assumed that mobile terminal receives the RSSI value of a first beacon A, such as received first every 1us
Signal value is A_RSSI1, second signal value is A_RSSI2, successively can receive multiple signal values.Meanwhile mobile terminal is every
The signal value of a second beacon B is received every 1us, such as received first signal value is B_RSSI1, second signal value be
B_RSSI2, successively can receive multiple second initial values.
It is S30, opposite according to i-th of i-th of the relative distance and the second beacon of the first beacon and tested point and tested point
I-th of Weighted distance of the first beacon and tested point is calculated in distance.Wherein, i is the positive integer of the value since 1, and i
≤N。
S40, initial velocity of the tested point by the first beacon when is obtained.
S50, according to i-th of Weighted distance of initial velocity and the first beacon and tested point, using Kalman filtering algorithm,
Successively obtain j-th coordinate position and corresponding speed of the tested point along first direction.J >=i+1, and j is positive integer.
Kalman filtering (Kalman filtering) algorithm refer to it is a kind of utilize linear system state equation, pass through and be
Data are observed in input and output of uniting, and the algorithm of optimal estimation is carried out to system mode.Due to including making an uproar in system in observation data
The influence of sound and interference, so optimal estimation is also considered as filtering.
The embodiment of the present invention provides a kind of localization method based on bluetooth technology with low power consumption, firstly, according to the first beacon
Position and first direction, determine the position of the second beacon；Again using the of operand lesser preprocess method processing acquisition
Multiple signal values of one beacon and the second beacon, reduce signal value measurement otherness, then, be calculated the first beacon with to
N number of relative distance, the N number of relative distance of the second beacon and tested point of measuring point distribute weight, realize weighting positioning, calculate
To i-th of Weighted distance between the first beacon and tested point；Secondly, estimating initial speed according to the continuity features of moving process
Degree, and the dynamic coordinate position of tested point and corresponding speed are obtained with lesser operand, realize positioning, and improve positioning accurate
Degree.
Optionally, multiple signal values that first beacon is successively obtained in S20, according to multiple letters of first beacon
Number value, obtain N number of relative distance of first beacon and tested point, as shown in Figure 3, comprising:
The signal value for being less than first threshold is deleted, obtains remaining by S210, the multiple signal values for successively obtaining the first beacon
N number of signal value in signal.
Wherein, first threshold is -90dBm.
In addition, the number of N can according to need and be set, the present invention is not construed as limiting.
It is exemplary, multiple signal values of the first beacon are successively obtained, when first threshold is -90dBm, -90dBm will be less than
Signal value delete, obtain 10 signal values in remaining signal.
S211, N number of signal value for the first beacon, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st
A first correction value.
It, will if the absolute value of the difference of S212, m-th of signal value and the m-1 signal value is less than or equal to second threshold
M-th of signal value is as m-th of first correction values；N >=m >=2, and m is positive integer.
Wherein, second threshold 15dBm.
If the absolute value of the difference of m-th of signal value and the m-1 signal value is less than or equal to second threshold, m-th of letter
Number value is normal, shows that the error of measurement is smaller, does not need to be modified, therefore, can be by m-th of signal value directly as m-th
Correction value.
If the absolute value of the difference of S213, m-th of signal value and the m-1 signal value is greater than second threshold, by m-1
The mean value of a signal value and the m+1 signal value, as m-th of first correction values, and N-2 signal value and N-1 is a
The mean value of signal value, as the first correction value of n-th.N-1≥m≥2.
If the absolute value of the difference of m-th of signal value and the m-1 signal value is greater than second threshold, m-th of signal value
For singular value, shows that the error of measurement is larger, need to be modified it.
Exemplary, for the first beacon, if the 3rd signal value is -60dBm, the 4th signal value is -30dBm, the 5th letter
Number value is -65dBm, at this point, the absolute value of the difference of the 4th signal value and the 3rd signal value is 30dBm, greater than second threshold
15dBm therefore need to be by the mean value of the 3rd signal value and the 5th signal value, as the 4th the first correction value, i.e., the 4th first
Correction value is -62.5dBm.
S214, N number of first correction value is smoothed, N number of first smooth value is calculated.
Optionally, N number of first correction value is smoothed in S214, N number of first smooth value, such as Fig. 4 is calculated
It is shown, comprising:
S2141, when 1≤x≤3, and when x is positive integer, using x-th of first correction values as x-th of first smooth values.
S2142, as 4≤x≤N, and when x is positive integer, according toX-th first are repaired
Positive value is smoothed, and it is A_RSSI " that x-th of first smooth values, which are calculated,x。
Wherein, A_RSSI 'x-1For -1 the first correction value of xth, A_RSSI 'x-2For -2 the first correction values of xth, A_
RSSI′x-3For -3 the first correction values of xth, k0=4, k1=3, k2=2, k3=1.
It is exemplary, for the first beacon A, if the 1st the first correction value is -60dBm, the 2nd the first correction value be -
62dBm, the 3rd the first correction value are -60.5dBm, and the 4th the first correction value is -62.5dBm, then to the 4th the first correction value
It is smoothed, according toIt calculates
It is -61.55dBm to the 4th the first smooth value.
S215, according to N number of first smooth value, N number of relative distance of the first beacon and tested point is calculated.
Optionally, N number of relative distance of the first beacon and tested point is calculated according to N number of first smooth value in S215,
As shown in Figure 5, comprising:
S2151, according to Δ A_RSSI "x=A_RSSI "x-A_RSSImax, x-th of first smooth value A_ are calculated
RSSI″xCorresponding relative variation is Δ A_RSSI "x；A_RSSImaxFor the signal peak of first beacon.
It should be noted that maximum value conduct therein can be filtered out by repeatedly measuring the signal value of the first beacon
The signal peak of first beacon.
S2152, according to Δ A_RSSI "x10 × b of=- (× lgdAx+ a), first beacon and tested point is calculated
X-th of relative distance is dAx；Wherein, a and b is environmental coefficient.
It is exemplary, if the signal peak of the first beacon A is -50dBm, the first beacon is obtained according to the example in S2142
4th the first smooth value A_RSSI "4For -61.55dBm, then Δ A_RSSI "4=-61.55+50=-11.55 obtains the first letter
The 4th the first smooth value A_RSSI " of target4Corresponding relative variation Δ A_RSSI "4For -11.55dBm.If environmental coefficient a is
1.5, b 2, then according to -11.55=- (10 × 2 × lgdA4+ 1.55), be calculated the first beacon with to
4th relative distance of measuring pointAbout 3.16 meters.
Optionally, the multiple signal values for successively obtaining the second beacon obtain second according to multiple signal values of the second beacon
N number of relative distance of beacon and tested point, as shown in Figure 6, comprising:
The signal value for being less than first threshold is deleted, is obtained by S220, the multiple signal values for successively obtaining second beacon
N number of signal value in remaining signal value.
S221, N number of signal value for the second beacon, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st
A second correction value.
It, will if the absolute value of the difference of S222, m-th of signal value and the m-1 signal value is less than or equal to second threshold
M-th of signal value is as m-th of first correction values；N >=m >=2, and m is positive integer.
If the absolute value of the difference of S223, m-th of signal value and the m-1 signal value is greater than second threshold, by m-1
The mean value of a signal value and the m+1 signal value, as m-th of second correction values, and N-2 signal value and N-1 is a
The mean value of signal value, as the second correction value of n-th.N-1≥m≥2.
S224, N number of second correction value is smoothed, N number of second smooth value is calculated.
Optionally, N number of second correction value is smoothed in S224, N number of second smooth value, such as Fig. 7 is calculated
It is shown, comprising:
S2241, when 1≤x≤3, and when x is positive integer, using x-th of second correction values as x-th of second smooth values.
S2242, as 4≤x≤N, and when x is positive integer, according toTo x-th
Two correction values are smoothed, and it is B_RSSI " that x-th of second smooth values, which are calculated,x。
Wherein, B_RSSI 'x-1For -1 the second correction value of xth, B_RSSI 'x-2For -2 the second correction values of xth, B_
RSSI′x-3For -3 the second correction values of xth.
S225, according to N number of second smooth value, N number of relative distance of the second beacon and tested point is calculated.
Optionally, N number of relative distance of the second beacon and tested point is calculated according to N number of second smooth value in S225,
As shown in Figure 8, comprising:
S2251, according to Δ B_RSSI "x=B_RSSI "x-B_RSSImax, m-th of second smooth value B_ are calculated
RSSI″xCorresponding relative variation is B_ Δ RSSI "x。B_RSSImaxFor the signal peak of the second beacon.
It should be noted that maximum value conduct therein can be filtered out by repeatedly measuring the signal value of the second beacon
The signal peak of second beacon.
S2252, according to Δ B_RSSI "x10 × b of=- (× lgdBx+ a), the xth of the second beacon and tested point is calculated
A relative distance is dBx。
It is exemplary, if the signal peak of the second beacon is -67.8dBm, the 4th smooth value of the second beacon being calculated
B_RSSI″4For -83.3dBm, then Δ B_RSSI "4=-83.3+67.8=-15.5, the 4th second for obtaining the second beacon are smooth
Value B_RSSI "4Corresponding relative variation is -15.5dBm.If environmental coefficient a be 1.5, b 2, then according to -15.5=(10 ×
2×lgdB4+ 1.5) the 4th relative distance d of the second beacon and tested point, is calculatedB4=100.7, about 5.01 meters.
Optionally, according to the of i-th of the relative distance and the second beacon of the first beacon and tested point and tested point in S30
I-th of Weighted distance of the first beacon and tested point is calculated, as shown in Figure 9 in i relative distance, comprising:
I-th of S301, i-th of relative distance for comparing the first beacon and tested point and the second beacon and tested point is opposite
The size of distance.
If i-th of the relative distance of S302, the first beacon and tested point are smaller, according to the of the first beacon and tested point
I relative distance, the first beacon i-th of first weights corresponding with i-th of relative distance of tested point and the first beacon and
I-th of Weighted distance of the first beacon and tested point is calculated in third relative distance between second beacon.First power
I-th of the relative distance for the first beacon and tested point is referred to again, calculates the amendment degree of error.
If i-th of relative distance of the first beacon and tested point is smaller, illustrate that the first beacon position of tested point distance is closer,
The nearly then received signal value of distance is more acurrate, therefore, the number of i-th of relative distance of the first beacon and tested point that are calculated
According to more acurrate, and then the data of i-th of Weighted distance of the first beacon and tested point being calculated are also more accurate.
It should be noted that theoretically, the relative distance of the first beacon and tested point, the second beacon and tested point it is opposite
Sum of the distance, equal to the third relative distance between the first beacon and the second beacon, still, due to measurement condition limitation and
Various factors, leading to measurement, there are errors, to cause calculated result inaccurate so that the first beacon and tested point it is opposite away from
From the sum of, the second beacon and relative distance of tested point, not equal to the third relative distance between the first beacon and the second beacon.
Therefore, it is necessary to be weighted amendment to relative distance, so that calculated result is closer to truth.
Optionally, if i-th of relative distance of the first beacon and tested point is smaller in S302, according to the first beacon with to
I-th of relative distance of measuring point, the first beacon i-th of first weights corresponding with i-th of relative distance of tested point, Yi Ji
I-th of Weighted distance of the first beacon and tested point is calculated, such as in third relative distance between one beacon and the second beacon
Shown in Figure 10, comprising:
S3021, basisI-th phase of first beacon with tested point is calculated
Corresponding i-th of first weights of adjusting the distance are wAi。ΔA_RSSI″iIt is corresponding opposite for i-th of first smooth values of the first beacon
Variable quantity, Δ B_RSSI "iFor the corresponding relative variation of i-th of second smooth values of the second beacon.
S3022, according to DAi=dAi+(s-dAi-dBi)×wAi, i-th of weighting of the first beacon and tested point is calculated
Distance is DAi.Wherein, third relative distance of the s between the first beacon and the second beacon, dAiFor the first beacon and tested point
I-th of relative distance, dBiFor i-th of relative distance of the second beacon and tested point.
Δ A_RSSI " that is exemplary, being obtained according to the example in S2152 and S22524=-11.5, Δ B_RSSI "4=-
15.5, the first beacon the 4th the first weight corresponding with the 4th relative distance of tested point, which is calculated, is
If the third relative distance s=10 (m) between the first beacon and the second beacon, and according in S2152 and S2252
Example obtains dA4=3.16 (m), dB4=5.01 (m), at this point, according to DA4=3.16+ (10-3.16-5.01) × 0.57=4.2,
The 4th Weighted distance that the first beacon and tested point is calculated is 4.2 meters.
If i-th of the relative distance of S303, the second beacon and tested point are smaller, according to the of the second beacon and tested point
I relative distance, the second beacon i-th of second weights corresponding with i-th of relative distance of tested point and the first beacon and
I-th of Weighted distance of the second beacon and tested point is calculated in third relative distance between second beacon, further according to
I-th of Weighted distance of the first beacon and tested point is calculated in third relative distance.Second weight is referred to for the second letter
I-th of relative distance of mark and tested point, calculates the amendment degree of error.
If i-th of relative distance of the second beacon and tested point is smaller, illustrate that the second beacon position of tested point distance is closer,
The nearly then received signal information of distance is more acurrate.Therefore, i-th of relative distance of the second beacon and tested point that are calculated
Data are more acurrate, and then the data of i-th of Weighted distance of the second beacon and tested point being calculated are also more accurate.
Optionally, if i-th of relative distance of the second beacon and tested point is smaller in S303, according to the second beacon with to
I-th of relative distance of measuring point, the second beacon i-th of second weights corresponding with i-th of relative distance of tested point, Yi Ji
I-th of Weighted distance of the second beacon and tested point is calculated in third relative distance between one beacon and the second beacon, then
According to third relative distance, i-th of Weighted distance of the first beacon and tested point is calculated, as shown in figure 11, comprising:
S3031, basisI-th phase of second beacon with tested point is calculated
Corresponding i-th of second weights of adjusting the distance are wBi。
S3032, according to DBi=dBi+(s-dAi-dBi)×wBi, i-th of weighting of the second beacon and tested point is calculated
Distance is DBi。
S3033, according to DAi=s-DBi, i-th of Weighted distance that the first beacon and tested point is calculated is DAi。
It is exemplary, if Δ A_RSSI "4=-15.5, Δ B_RSSI "4=-11.5, then be calculated the second beacon with it is to be measured
Point corresponding 4th the second weight of the 4th relative distance be
If the third relative distance s=10 (m) between the first beacon and the second beacon, and dA4=5 (m), dB4=4 (m),
According to DB4=4+ (10-5-4) × 0.43=4.43, the 4th Weighted distance that the second beacon and tested point is calculated is 4.43
Rice.
Then, further according to DA4=s-DB4=10-4.43=5.57, the 4th that the first beacon and tested point is calculated add
Power distance is 5.57 meters.
Optionally, initial velocity when tested point passes through the first beacon is obtained in S40, comprising:
Pass through third beacon and the first beacon according to the 4th relative distance and tested point of third beacon and the first beacon
Time difference, the average speed being calculated, as tested point pass through the first beacon when initial velocity.Third beacon is to be measured
A point beacon nearest by the first beacon described in the distance of process before the first beacon.
It should be noted that according to mobile continuity features the speed of previous period can be used, as current
Speed.Therefore, by third beacon and then pass through the first beacon in tested point, and the situation mobile to the second beacon
Under, tested point can be passed through to average speed when third beacon and the first beacon, initial speed when as by the first beacon
Degree.
Exemplary, as shown in figure 12, third beacon is C, and the first beacon is A, and the second beacon is B, and tested point P successively passes through
After third beacon and the first beacon, moved along first direction I to the second beacon.Between third beacon C and the first beacon A
Four relative distances are sCA=10 (m), tested point is Δ t=4s by the time difference of third beacon C and the first beacon A, then average
Speed V=2.5m/s, therefore, tested point are 2.5m/s by the initial velocity of the first beacon A.
Optionally, Kalman is utilized according to i-th of Weighted distance of initial velocity and the first beacon and tested point in S50
Filtering algorithm successively obtains j-th coordinate position and corresponding speed of the tested point along first direction, as shown in figure 13, comprising:
S501, system state equation is establishedObtain pair of two adjacent groups coordinate position and speed
It should be related to.
Wherein, xj-1For along -1 coordinate position of jth of the first direction, xjFor along j-th of seat of the first direction
Cursor position, vj-1For the corresponding speed of tested point at -1 coordinate position of jth, vjIt is corresponding for tested point at j-th of coordinate position
Speed, Δ j are moved to the time difference from j-th of coordinate position, and v from -1 coordinate position of jth for tested pointj-1=v0+ ε, v0
For the initial velocity, ε is velocity variable.
S502, observational equation is established
S503, according to i-th of Weighted distance of the first beacon and tested point, using system state equation and observational equation,
It is x that tested point, which is calculated, along j-th of coordinate position of first directionAjAnd corresponding speed is vAj。
It is exemplary, when i-th of Weighted distance that the first beacon and tested point is calculated is DAiWhen, substitute into system mode side
Journey, at this point, xj-1=DAi, corresponding speed is vj-1=v0+ ε, thus, it is possible to arriving for calculating was passed through after the Δ j time, tested point
Coordinate position after movement is xj=DAi+Δj×(v0+ ε), vj=vj-1=v0+ ε, at this point, after observational equation calculates, to
J-th coordinate position x of the measuring point along first directionAjFor DAi+Δj×(v0+ ε), corresponding speed vAjFor v0+ε.It is substituted into again
System state equation and observational equation acquire the coordinate position of tested point and corresponding speed after next Δ j time.
The embodiment of the present invention also provides a kind of computer equipment, including storage unit and processing unit；In storage unit
Store the computer program that can be run on a processing unit and storage result；Processing unit is realized as above when executing computer program
The localization method based on bluetooth technology with low power consumption.
The embodiment of the present invention also provides a kind of computer-readable medium, is stored with computer program, computer program
It realizes when being executed by processor as described above based on the localization method of bluetooth technology with low power consumption.
The embodiment of the present invention also provides a kind of positioning system based on bluetooth technology with low power consumption, as shown in figure 14, comprising:
Scanner 1, beacon 2, terminal 3 and server 4；
Scanner 1 is configured to scanning license board information, and sends license board information to server 4.
Beacon 2 is configured to continue broadcast signal values.
Terminal 3 is configured to receive the signal value of beacon 2, the signal value of the beacon transmitted and received to server 4.Server
4 include memory 41 and processor 42, and memory 41 stores the computer program that can be run on a processor and storage result；Place
Reason device 42 is realized when being configured to execute computer program as described above based on the localization method of bluetooth technology with low power consumption.Processor
42 are additionally configured to obtain positioning result according to the i.e. corresponding speed of coordinate position of tested point, and positioning result is sent to terminal
3, so that terminal 3 shows positioning result.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (14)
1. a kind of localization method based on bluetooth technology with low power consumption characterized by comprising
According to the position of the first beacon and first direction, the position of the second beacon is determined；First beacon refers to be measured
The beacon nearest with its distance that point passes through, the first direction are used to indicate the moving direction of tested point, and described second
Beacon is referred to along first direction and the smallest beacon of the first beacon distance；
Multiple signal values of first beacon are successively obtained, while successively obtaining multiple signal values of second beacon, and
According to multiple signal values of first beacon, N number of relative distance of first beacon and tested point is obtained, according to described
Multiple signal values of two beacons obtain N number of relative distance of second beacon and tested point；The signal value is Bluetooth information
Intensity；
It is opposite according to i-th of i-th of the relative distance and second beacon of first beacon and tested point and tested point
I-th of Weighted distance of first beacon and tested point is calculated in distance；Wherein, i is the positive integer of the value since 1,
And i≤N；
Obtain initial velocity when tested point passes through first beacon；
According to i-th of Weighted distance of the initial velocity and first beacon and tested point, tested point is successively obtained along institute
State first direction j-th of coordinate position and corresponding speed；J >=i+1, and j is positive integer.
2. the localization method according to claim 1 based on bluetooth technology with low power consumption, which is characterized in that described in successively obtaining
Multiple signal values of first beacon obtain the N of first beacon and tested point according to multiple signal values of first beacon
A relative distance, comprising:
The signal value for being less than first threshold is deleted, obtains remaining signal by the multiple signal values for successively obtaining first beacon
N number of signal value in value；
For N number of signal value of first beacon, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st
One correction value；
If the absolute value of the difference of m-th of signal value and the m-1 signal value is less than or equal to second threshold, by m-th of signal
Value is used as m-th of first correction values；N >=m >=2, and m is positive integer；
If the absolute value of the difference of m-th of signal value and the m-1 signal value is greater than second threshold, by the m-1 signal value
With the mean value of the m+1 signal value, as m-th of first correction values, and by N-2 signal value and the N-1 signal value
Mean value, as the first correction value of n-th；N-1≥m≥2；
N number of first correction value is smoothed, N number of first smooth value is calculated；
According to N number of first smooth value, N number of relative distance of first beacon and tested point is calculated；
The multiple signal values for successively obtaining second beacon obtain described according to multiple signal values of second beacon
N number of relative distance of two beacons and tested point, comprising:
The signal value for being less than first threshold is deleted, obtains remaining signal by the multiple signal values for successively obtaining second beacon
N number of signal value in value；
For N number of signal value of second beacon, by the mean value of the 2nd signal value and the 3rd signal value, as the 1st
Two correction values；
If the absolute value of the difference of m-th of signal value and the m-1 signal value is less than or equal to second threshold, by m-th of signal
Value is used as m-th of second correction values；N >=m >=2, and m is positive integer；
If the absolute value of the difference of m-th of signal value and the m-1 signal value is greater than second threshold, by the m-1 signal value
With the mean value of the m+1 signal value, as m-th of second correction values, and by N-2 signal value and the N-1 signal value
Mean value, as the second correction value of n-th；N-1≥m≥2；
N number of second correction value is smoothed, N number of second smooth value is calculated；
According to N number of second smooth value, N number of relative distance of second beacon and tested point is calculated.
3. the localization method according to claim 2 based on bluetooth technology with low power consumption, which is characterized in that by N number of described
One correction value is smoothed, and N number of first smooth value is calculated, comprising:
When 1≤x≤3, and when x is positive integer, using x-th of first correction values as x-th of first smooth values；As 4≤x≤N, and
When x is positive integer, according to
X-th of first correction values are smoothed, it is A_RSSI " that x-th of first smooth values, which are calculated,x；
Wherein, A_RSSI 'x-1For -1 the first correction value of xth, A_RSSI 'x-2For -2 the first correction values of xth, A_RSSI 'x-3
For -3 the first correction values of xth, k0=4, k1=3, k2=2, k3=1.
4. the localization method according to claim 2 based on bluetooth technology with low power consumption, which is characterized in that according to N number of first
N number of relative distance of first beacon and tested point is calculated in smooth value, comprising:
According to Δ A_RSSI "x=A_RSSI "x-A_RSSImax, x-th of first smooth value A_RSSI " are calculatedxCorresponding phase
It is Δ A_RSSI " to variable quantityx；A_RSSImaxFor the signal peak of first beacon；
According to Δ A_RSSI "x10 × b of=- (× lgdAx+ a), x-th that first beacon and tested point is calculated is opposite
Distance is dAx；Wherein, a and b is environmental coefficient.
5. the localization method according to claim 2 based on bluetooth technology with low power consumption, which is characterized in that by N number of described
Two correction values are smoothed, and N number of second smooth value is calculated, comprising:
When 1≤x≤3, and when x is positive integer, using x-th of second correction values as x-th of second smooth values；
As 4≤x≤N, and when x is positive integer, according toX-th second are repaired
Positive value is smoothed, and it is B_RSSI " that x-th of second smooth values, which are calculated,x；
Wherein, B_RSSI 'x-1For -1 the second correction value of xth, B_RSSI 'x-2For -2 the second correction values of xth, B_RSSI 'x-3
For -3 the second correction values of xth.
6. the localization method according to claim 2 based on bluetooth technology with low power consumption, which is characterized in that according to N number of second
N number of relative distance of second beacon and tested point is calculated in smooth value, comprising:
According to Δ B_RSSI "x=B_RSSI "x-B_RSSImax, x-th of first smooth value B_RSSI " are calculatedxCorresponding phase
It is Δ B_RSSI " to variable quantityx；B_RSSImaxFor the signal peak of second beacon；
According to Δ B_RSSI "x10 × b of=- (× lgdBx+ a), x-th that second beacon and tested point is calculated is opposite
Distance is dBx。
7. the localization method according to claim 1 based on bluetooth technology with low power consumption, which is characterized in that according to described first
I-th of relative distance of i-th of the relative distance and second beacon and tested point of beacon and tested point is calculated described
I-th of Weighted distance of the first beacon and tested point, comprising:
Compare first beacon and tested point i-th of relative distance and i-th of second beacon and tested point it is opposite
The size of distance；
If i-th of relative distance of first beacon and tested point is smaller, according to the i-th of first beacon and tested point
A relative distance, first beacon, i-th of first weights corresponding with i-th of relative distance of tested point and described
Third relative distance between one beacon and second beacon, i-th that first beacon and tested point is calculated add
Weigh distance；First weight refers to i-th of the relative distance for first beacon and tested point, calculates repairing for error
Positive degree；
If i-th of relative distance of second beacon and tested point is smaller, according to the i-th of second beacon and tested point
A relative distance, second beacon, i-th of second weights corresponding with i-th of relative distance of tested point and described
The third relative distance between one beacon and second beacon, is calculated the i-th of second beacon and tested point
A Weighted distance, further according to the third relative distance, be calculated i-th of weighting of first beacon and tested point away from
From；Second weight refers to i-th of the relative distance for second beacon and tested point, calculates the amendment journey of error
Degree.
8. the localization method according to claim 7 based on bluetooth technology with low power consumption, which is characterized in that according to described first
I-th of relative distance of beacon and tested point, first beacon are i-th corresponding with i-th of relative distance of tested point
First beacon is calculated in third relative distance between one weight and first beacon and second beacon
With i-th of Weighted distance of tested point, comprising:
According toI-th of relative distance of first beacon and tested point is calculated
Corresponding i-th of first weights are wAi；ΔA_RSSI″iFor the corresponding opposite variation of i-th of smooth value of first beacon
Amount, Δ B_RSSI "iFor the corresponding relative variation of i-th of smooth value of second beacon；
According to DAi=dAi+(s-dAi-dBi)×wAi, i-th of Weighted distance that first beacon and tested point is calculated be
DAi；Wherein, the third relative distance of the s between first beacon and second beacon, dAiFor first beacon
With i-th of relative distance of tested point, dBiFor i-th of relative distance of second beacon and tested point.
9. the localization method according to claim 7 based on bluetooth technology with low power consumption, which is characterized in that according to described second
I-th of relative distance of beacon and tested point, second beacon are i-th corresponding with i-th of relative distance of tested point
The third relative distance between two weights and first beacon and second beacon, is calculated described second
I-th of Weighted distance of beacon and tested point, further according to the third relative distance, be calculated first beacon with it is to be measured
I-th of Weighted distance of point, comprising:
According toI-th of relative distance of second beacon and tested point is calculated
Corresponding i-th of second weights are wBi；
According to DBi=dBi+(s-dAi-dBi)×wBi, i-th of Weighted distance that second beacon and tested point is calculated be
DBi；
According to DAi=s-DBi, i-th of Weighted distance that first beacon and tested point is calculated is DAi。
10. the localization method according to claim 1 based on bluetooth technology with low power consumption, which is characterized in that obtain tested point
Initial velocity when by first beacon, comprising:
According to the 4th relative distance of third beacon and first beacon and tested point by the third beacon and described
The time difference of first beacon, the average speed being calculated pass through initial velocity when first beacon as tested point；Institute
Stating third beacon is a tested point beacon nearest by the first beacon described in the distance of process before first beacon.
11. the localization method according to claim 10 based on bluetooth technology with low power consumption, which is characterized in that according to described first
I-th of Weighted distance of beginning speed and first beacon and tested point successively obtains tested point along the jth of the first direction
A coordinate position and corresponding speed, comprising:
Establish system state equationObtain the corresponding relationship of two adjacent groups coordinate position and speed；Its
In, xj-1For along -1 coordinate position of jth of the first direction, xjFor along j-th of coordinate position of the first direction, vj-1
For the corresponding speed of tested point at -1 coordinate position of jth, vjIt is for the corresponding speed of tested point, Δ j at j-th of coordinate position
Tested point is moved to the time difference from j-th of coordinate position, and v from -1 coordinate position of jthj-1=v0+ ε, v0It is described initial
Speed, ε are velocity variable；
Establish observational equation
According to i-th of Weighted distance of first beacon and tested point, the system state equation and the observation side are utilized
Journey, it is x that tested point, which is calculated, along j-th of coordinate position of the first directionAjAnd corresponding speed is vAj。
12. a kind of computer equipment, which is characterized in that including storage unit and processing unit；Storage can in the storage unit
The computer program and storage result run on the processing unit；The processing unit executes real when the computer program
Now such as the described in any item localization methods based on bluetooth technology with low power consumption of claim 1-11.
13. a kind of computer-readable medium, is stored with computer program, which is characterized in that the computer program is processed
Such as claim 1-11 described in any item localization methods based on bluetooth technology with low power consumption are realized when device executes.
14. a kind of positioning system based on bluetooth technology with low power consumption characterized by comprising scanner, beacon, terminal and
Server；
The scanner is configured to scanning license board information, and sends license board information to the server；
The beacon is configured to continue broadcast signal values；
The terminal is configured to receive the signal value of the beacon, the signal for the beacon that Xiang Suoshu server transmits and receives
Value；The server includes memory and processor, the computer journey that the memory storage can be run on the processor
Sequence and storage result；The processor is realized as described in claim any one of 1-11 when being configured to execute the computer program
The localization method based on bluetooth technology with low power consumption；The processor is additionally configured to i.e. corresponding according to the coordinate position of tested point
Speed obtains positioning result, and positioning result is sent to the terminal, so that the terminal shows positioning result.
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