CN110300369B - Positioning method and system based on low-power-consumption Bluetooth technology - Google Patents

Positioning method and system based on low-power-consumption Bluetooth technology Download PDF

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CN110300369B
CN110300369B CN201910582364.8A CN201910582364A CN110300369B CN 110300369 B CN110300369 B CN 110300369B CN 201910582364 A CN201910582364 A CN 201910582364A CN 110300369 B CN110300369 B CN 110300369B
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beacon
point
measured
value
ith
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CN110300369A (en
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梅文娟
顾勋
鉏文权
徐朝哲
李纪
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BOE Technology Group Co Ltd
Hefei BOE Optoelectronics Technology Co Ltd
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Hefei BOE Optoelectronics Technology Co Ltd
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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
    • 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
    • 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
    • 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

Abstract

The embodiment of the invention provides a positioning method and a positioning system based on a low-power-consumption Bluetooth technology, which relate to the technical field of communication and can improve the positioning precision, and the positioning method based on the low-power-consumption Bluetooth technology comprises the following steps: determining the position of a second beacon according to the position of the first beacon and the first direction; sequentially acquiring a plurality of signal values of a first beacon, simultaneously sequentially acquiring a plurality of signal values of a second beacon, acquiring N relative distances between the first beacon and a point to be measured according to the plurality of signal values of the first beacon, and acquiring N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon; calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured; and sequentially obtaining the jth coordinate position and the corresponding speed of the point to be measured along the first direction according to the initial speed and the ith weighted distance between the first beacon and the point to be measured.

Description

Positioning method and system based on low-power-consumption Bluetooth technology
Technical Field
The invention relates to the technical field of communication, in particular to a positioning method and a positioning system based on a low-power-consumption Bluetooth technology.
Background
In large-scale indoor parking lots such as shopping malls or other indoor parking lots, because of the sheltering of buildings, people can not use a Global Positioning System (GPS) to carry out Positioning and navigation, and the structures of all places in the parking lot are very similar, so that people are easy to get lost in the indoor parking lot, and a great deal of energy is wasted in finding parking lots and reversely finding cars.
At present, an indoor positioning scheme based on technologies such as Bluetooth, WiFi, ultra-wideband technology and video can be replaced with a GPS scheme, but the WiFi positioning needs to be additionally established with a base station, and although the ultra-wideband positioning and the video positioning are high in positioning accuracy, extra hardware facilities need to be invested, the cost is high, and the construction difficulty is high, so that the Bluetooth positioning is paid more and more attention.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning system based on a low-power-consumption Bluetooth technology, which can improve the positioning precision.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in one aspect, an embodiment of the present invention provides a positioning method based on a bluetooth low energy technology, including: determining the position of a second beacon according to the position of the first beacon and the first direction; the first beacon refers to a beacon which is passed by the point to be measured and is closest to the point to be measured, the first direction is used for indicating the moving direction of the point to be measured, and the second beacon refers to a beacon which is the smallest in distance from the first beacon along the first direction; sequentially acquiring a plurality of signal values of the first beacon, simultaneously sequentially acquiring a plurality of signal values of the second beacon, acquiring N relative distances between the first beacon and a point to be measured according to the plurality of signal values of the first beacon, and acquiring N relative distances between the first beacon and the point to be measured according to the plurality of signal values of the second beacon; the signal value is the Bluetooth information intensity; calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured; wherein i is a positive integer which begins to be valued from 1, and i is not more than N; acquiring the initial speed of the point to be measured when the point passes through the first beacon; sequentially obtaining a jth coordinate position and a corresponding speed of the point to be measured along the first direction according to the initial speed and the ith weighted distance between the first beacon and the point to be measured; j is more than or equal to i +1, and j is a positive integer.
Optionally, sequentially obtaining a plurality of signal values of the first beacon, and obtaining N relative distances between the first beacon and the point to be measured according to the plurality of signal values of the first beacon, includes: sequentially acquiring a plurality of signal values of the first beacon, deleting the signal values smaller than a first threshold value, and acquiring N signal values in the rest signal values; regarding the N signal values of the first beacon, taking the average value of the 2 nd signal value and the 3 rd signal value as the 1 st first correction value; if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is less than or equal to a second threshold value, taking the mth signal value as an mth first correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer; if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is larger than a second threshold value, taking the mean value of the (m-1) th signal value and the (m + 1) th signal value as an mth first correction value, and taking the mean value of the (N-2) th signal value and the (N-1) th signal value as an Nth first correction value; n-1 is more than or equal to m and more than or equal to 2; smoothing the N first correction values, and calculating to obtain N first smoothing values; calculating N relative distances between the first beacon and the point to be measured according to the N first smooth values; sequentially acquiring a plurality of signal values of the second beacon, and obtaining N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon, wherein the method comprises the following steps: sequentially acquiring a plurality of signal values of the second beacon, deleting the signal values smaller than the first threshold value, and acquiring N signal values in the rest signal values; regarding the N signal values of the second beacon, taking the average value of the 2 nd signal value and the 3 rd signal value as a 1 st second correction value; if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is less than or equal to a second threshold value, taking the mth signal value as an mth second correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer; if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is larger than a second threshold value, taking the mean value of the (m-1) th signal value and the (m + 1) th signal value as an mth second correction value, and taking the mean value of the (N-2) th signal value and the (N-1) th signal value as an Nth second correction value; n-1 is more than or equal to m and more than or equal to 2; smoothing the N second correction values, and calculating to obtain N second smoothed values; and calculating N relative distances between the second beacon and the point to be measured according to the N second smooth values.
Optionally, smoothing the N first correction values, and calculating to obtain N first smoothed values, includes: when x is more than or equal to 1 and less than or equal to 3 and is a positive integer, taking the xth first correction value as the xth first smooth value; when x is not less than 4 and not more than N and x is a positive integer
Figure BDA0002111836330000031
Smoothing the xth first correction value, and calculating to obtain the xth first smoothed value A _ RSSI ″x(ii) a Wherein, A _ RSSI'x-1Is the x-1 st first correction value, A _ RSSI'x-2Is the x-2 th first correction value, A _ RSSI'x-3Is the x-3 first correction value, k0＝4，k1＝3，k2＝2，k3＝1。
Optionally, calculating N relative distances between the first beacon and the point to be measured according to N first smooth values includes: according to Δ A _ RSSIx＝A_RSSI″x-A_RSSImaxAnd calculating to obtain the xth first smooth value A _ RSSI ″xThe corresponding relative variation is Δ A _ RSSI ″x；A_RSSImaxA signal peak for the first beacon; according to Δ A _ RSSIx＝-(10×b×lgdAx+ a), calculating to obtain the x-th relative distance d between the first beacon and the point to be measuredAx(ii) a Wherein a and b are environmental coefficients.
Optionally, smoothing the N second correction values, and calculating to obtain N second smoothed values, includes: when x is more than or equal to 1 and less than or equal to 3 and is a positive integer, taking the xth first correction value as the xth first smooth value; when x is not less than 4 and not more than N and x is a positive integer
Figure BDA0002111836330000032
Smoothing the xth second correction value, and calculating to obtain the xth second smoothing value B _ RSSI ″x；
Wherein, B _ RSSI'x-1Is the x-1 th second correction value, B _ RSSI'x-2Is the x-2 th second correction value, B _ RSSI'x-3Is the x-3 th second correction value.
Optionally, calculating N relative distances between the second beacon and the point to be measured according to N second smoothed values includes: according to Δ B _ RSSIx＝B_RSSI″x-B_RSSImaxAnd calculating to obtain the xth first smooth value B _ RSSI ″xThe corresponding relative variation is Δ B _ RSSI ″x；B_RSSImaxA signal peak for the second beacon; according to Δ B _ RSSIx＝-(10×b×lgdBx+ a), calculating to obtain the x-th relative distance d between the second beacon and the point to be measuredBx。
Optionally, calculating an ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured, where the calculating includes: comparing the ith relative distance between the first beacon and the point to be measured with the ith relative distance between the second beacon and the point to be measured; if the ith relative distance between the first beacon and the point to be measured is smaller, calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured, the ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured and the third relative distance between the first beacon and the second beacon; the first weight refers to the correction degree of errors calculated according to the ith relative distance between the first beacon and the point to be measured; if the ith relative distance between the second beacon and the point to be measured is smaller, calculating to obtain an ith weighted distance between the second beacon and the point to be measured according to the ith relative distance between the second beacon and the point to be measured, an ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured and the third relative distance between the first beacon and the second beacon, and calculating to obtain an ith weighted distance between the first beacon and the point to be measured according to the third relative distance; the second weight refers to the correction degree of the error calculated according to the ith relative distance between the second beacon and the point to be measured.
Optionally, if the ith relative distance between the first beacon and the point to be measured is smaller, calculating an ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured, an ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured, and a third relative distance between the first beacon and the second beacon, where the calculating includes: according to
Figure BDA0002111836330000041
Calculating to obtain an ith first weight w corresponding to the ith relative distance between the first beacon and the point to be measuredAi；ΔA_RSSI″iIs the relative variation quantity corresponding to the ith smooth value of the first beacon, namely delta B _ RSSI ″iA relative variation corresponding to the ith smoothed value of the second beacon; according to DAi＝dAi+(s-dAi-dBi)×wAiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi(ii) a Wherein s is the third relative distance between the first beacon and the second beacon, dAiIs the ith relative distance between the first beacon and the point to be measured, dBiThe ith relative distance between the second beacon and the point to be measured.
Optionally, if the ith relative distance between the second beacon and the point to be measured is smaller, calculating an ith weighted distance between the second beacon and the point to be measured according to the ith relative distance between the second beacon and the point to be measured, an ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured, and the third relative distance between the first beacon and the second beacon to obtain an ith weighted distance between the second beacon and the point to be measured, and calculating an ith weighted distance between the first beacon and the point to be measured according to the third relative distance, where the calculating step includes: according to
Figure BDA0002111836330000051
Calculating to obtain the corresponding ith relative distance between the second beacon and the point to be measuredIs wBi(ii) a According to DBi＝dBi+(s-dAi-dBi)×wBiCalculating to obtain the ith weighted distance D between the second beacon and the point to be measuredBi(ii) a According to DAi＝s-DBiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi。
Optionally, acquiring an initial speed of the point to be measured when the point to be measured passes through the first beacon includes: calculating an average speed according to a fourth relative distance between a third beacon and the first beacon and a time difference of a point to be measured passing through the third beacon and the first beacon, wherein the average speed is used as an initial speed of the point to be measured passing through the first beacon; the third beacon is a beacon which passes before the point to be measured passes through the first beacon and is closest to the first beacon.
Optionally, sequentially obtaining a jth coordinate position of the point to be measured along the first direction and a corresponding speed by using a kalman filter algorithm according to the initial speed and the ith weighted distance between the first beacon and the point to be measured, including: establishing a system state equation
Figure BDA0002111836330000052
Obtaining the corresponding relation between the positions and the speeds of two adjacent groups of coordinates; wherein x isj-1Is the j-1 th coordinate position along the first direction, xjFor the jth coordinate position along said first direction, vj-1The corresponding speed v of the point to be measured at the j-1 th coordinate positionjIs the corresponding speed of the measured point at the jth coordinate position, delta j is the time difference of the measured point moving from the jth-1 coordinate position to the jth coordinate position, and vj-1＝v0+，v0The initial speed is the speed variation; establishing an observation equation
Figure BDA0002111836330000053
According to the ith weighted distance between the first beacon and the point to be measured, calculating the jth coordinate position of the point to be measured along the first direction by using the system state equation and the observation equationIs set to xAjAnd corresponding velocity is vAj。
In another aspect, an embodiment of the present invention provides a computer apparatus, including a storage unit and a processing unit; a storage unit in which a computer program executable on the processing unit is stored and the result is stored; the processing unit, when executing the computer program, implements a positioning method based on bluetooth low energy technology as described above.
In still another aspect, an embodiment of the present invention provides a computer-readable medium, which stores a computer program, and the computer program, when executed by a processor, implements the positioning method based on bluetooth low energy technology as described above.
In yet another aspect. The embodiment of the invention provides a positioning system based on a low-power Bluetooth technology, which comprises: a scanner, a beacon, a terminal and a server; the scanner is configured to scan license plate information and send the license plate information to the server; the beacon is configured to continuously broadcast signal values; the terminal is configured to receive the signal value of the beacon and send the received signal value of the beacon to the server; the server comprises a memory and a processor, the memory storing a computer program executable on the processor and storing results; the processor is configured to implement the bluetooth low energy technology based positioning method as described above when executing the computer program; the processor is also configured to obtain a positioning result according to the coordinate position of the point to be measured, namely the corresponding speed, and send the positioning result to the terminal so that the terminal can display the positioning result. The embodiment of the invention provides a positioning method and a positioning system based on a low-power-consumption Bluetooth technology, and the positioning method comprises the following steps of firstly, determining the position of a second beacon according to the position and the first direction of a first beacon; processing a plurality of acquired signal values of the first beacon and the second beacon by adopting a preprocessing method with smaller operation amount, reducing the difference of signal value measurement, then calculating to obtain N relative distances between the first beacon and the point to be measured and N relative distances between the second beacon and the point to be measured, distributing weights, realizing weighted positioning, and calculating to obtain the ith weighted distance between the first beacon and the point to be measured; secondly, estimating the initial speed according to the continuity characteristic of the moving process, and obtaining the dynamic coordinate position and the corresponding speed of the point to be measured with a small amount of calculation, thereby realizing the positioning and improving the positioning precision.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of scene abstraction of an indoor parking lot according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a positioning method based on bluetooth low energy according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of another positioning method based on bluetooth low energy technology according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a positioning method based on bluetooth low energy according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 6 is a schematic flowchart of a positioning method based on bluetooth low energy according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 8 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 9 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 10 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 11 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 12 is a schematic view of a scene abstraction of another indoor parking lot according to an embodiment of the present invention;
fig. 13 is a flowchart illustrating a positioning method based on bluetooth low energy according to another embodiment of the present invention;
fig. 14 is a schematic diagram of a positioning system based on bluetooth low energy technology according to an embodiment of the present invention.
Reference numerals:
1-a scanner; 2-a beacon; 3-a terminal; 4-a server; 41-a memory; 42-processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Bluetooth Low Energy (BLE) is a branch technology of Bluetooth, is dedicated to the scene of Low-power consumption, Low-power communication, compares in classic Bluetooth, and Bluetooth Low Energy's consumption is lower, is more suitable for being used for the parking garage in doors.
When the Bluetooth low energy technology is used for positioning in an indoor parking lot, a plurality of beacons adopting the Bluetooth low energy technology are arranged at roads and intersections of the indoor parking lot, and the beacons continuously broadcast information. In order to ensure that the broadcast information of the beacon is transmitted along the road direction and is shielded as much as possible, the beacon needs to be arranged at a higher position, for example, at a position 3 meters away from the ground or close to the roof. In addition, because the information propagation distance of the beacon is limited, when the distance between the beacons of two intersections is long, a beacon needs to be added between the two beacons, for example, when the distance between the beacons of two intersections exceeds 20 meters, a beacon is added at the middle position.
After the beacon is set, the entire indoor parking lot scene can be abstracted to simplify the positioning process. First, since the active area for positioning and navigation in a parking lot is on a road, the parking lot can be simplified into a plan view composed of bars representing roads and block areas representing other areas such as parking spaces as shown in fig. 1. Then, the beacons installed at the roads and intersections are simplified to dots. The cart is then reduced to a moving point to be measured.
Based on the above, an embodiment of the present invention provides a positioning method based on a bluetooth low energy technology, as shown in fig. 2, including:
s10, the mobile terminal determines the location of the second beacon according to the location of the first beacon and the first direction. The first beacon refers to a beacon which is passed by the point to be measured and is closest to the point to be measured, the first direction is used for indicating the moving direction of the point to be measured, and the second beacon refers to a beacon which is the smallest distance from the first beacon along the first direction.
The mobile terminal may be a mobile phone, a computer, a vehicle-mounted display, etc., as long as it can receive the information of the beacon broadcast, which is not limited in the present invention.
It should be noted that, when the vehicle is parked, the mobile terminal moves along with the vehicle, at this time, the vehicle and the mobile terminal are the points to be measured, and the moving direction of the vehicle and the mobile terminal is the moving direction of the points to be measured.
In addition, the moving direction of the point to be measured, i.e., the first direction, can be obtained by information fusion of the geomagnetic sensor and the accelerometer.
For example, as shown in fig. 1, if the first beacon is at a dot position indicated by a in the figure, the point to be measured is at a dot position indicated by P, and the point to be measured P is obtained to move along the direction I, the first direction is I. Therefore, the point to be measured P can be determined to reach the dot position indicated by B as it moves, and therefore, the point B can be determined to be the second beacon.
S20, sequentially acquiring a plurality of signal values of the first beacon, simultaneously sequentially acquiring a plurality of signal values of the second beacon, acquiring N relative distances between the first beacon and the point to be measured according to the plurality of signal values of the first beacon, and acquiring N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon. The signal value is the bluetooth information strength.
It should be noted that the relative distance is the shortest distance between the beacon and the point to be measured on the same horizontal plane. The Signal value refers to an rssi (received Signal Strength indicator) value of the beacon, i.e., bluetooth information Strength.
The RSSI is implemented after the backchannel baseband receive filter. In order to obtain the characteristics of the reverse signal, the following processing is performed in the specific implementation of determining the RSSI value: performing baseband IQ power integration within 104us (microseconds) to obtain RSSI instantaneous value, i.e. RSSI (instantaneous value) ═ I2+Q2(ii) a Then, 8192 instantaneous RSSI values are averaged in about 1 second to obtain an average RSSI value, i.e. the average RSSI value is 8192 of the sum of 8192 instantaneous RSSI values, and the ratio of the maximum RSSI value to the instantaneous RSSI value in 1 second is given, i.e. the number of instantaneous RSSI values is greater than 8192 of a certain threshold. The RSSI value is obtained by integrating power in a digital domain and then reversely pushing to an antenna port, and the inconsistency of the transmission characteristics of reverse channel signals can influence the accuracy of the RSSI, so that the RSSI value is used for positioning, namely the distance between a beacon and a point to be measured is measured according to the strength of the received signal, and then the positioning calculation is carried out according to corresponding data.
For example, suppose the mobile terminal receives the RSSI value of a first beacon a every 1us, for example, the received first signal value is a _ RSSI1The second signal value is A _ RSSI2Multiple signal values may be received in turn. Meanwhile, the mobile terminal receives a signal value of a second beacon B every 1us, for example, the received first signal value is B _ RSSI1The second signal value is B _ RSSI2A plurality of second initial values may be received in turn.
S30, calculating the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured. Wherein i is a positive integer which begins to be valued from 1, and i is not more than N.
And S40, acquiring the initial speed of the point to be measured when the point to be measured passes through the first beacon.
And S50, sequentially obtaining the jth coordinate position and the corresponding speed of the point to be measured along the first direction by using a Kalman filtering algorithm according to the initial speed and the ith weighted distance between the first beacon and the point to be measured. j is more than or equal to i +1, and j is a positive integer.
The Kalman filtering algorithm refers to an algorithm for performing optimal estimation on a system state by inputting and outputting observation data through a system using a linear system state equation. The optimal estimation can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system.
The embodiment of the invention provides a positioning method based on a low-power-consumption Bluetooth technology, which comprises the steps of firstly, determining the position of a second beacon according to the position and the first direction of a first beacon; processing a plurality of acquired signal values of the first beacon and the second beacon by adopting a preprocessing method with smaller operation amount, reducing the difference of signal value measurement, then calculating to obtain N relative distances between the first beacon and the point to be measured and N relative distances between the second beacon and the point to be measured, distributing weights, realizing weighted positioning, and calculating to obtain the ith weighted distance between the first beacon and the point to be measured; secondly, estimating the initial speed according to the continuity characteristic of the moving process, and obtaining the dynamic coordinate position and the corresponding speed of the point to be measured with a small amount of calculation, thereby realizing the positioning and improving the positioning precision.
Optionally, the step S20 of sequentially acquiring a plurality of signal values of the first beacon, and obtaining N relative distances between the first beacon and the point to be measured according to the plurality of signal values of the first beacon includes, as shown in fig. 3:
s210, sequentially obtaining a plurality of signal values of the first beacon, deleting the signal values smaller than the first threshold, and obtaining N signal values of the remaining signals.
Wherein the first threshold is-90 dBm.
The number of N may be set as needed, and the present invention is not limited thereto.
Illustratively, a plurality of signal values of the first beacon are acquired in sequence, and when the first threshold is-90 dBm, signal values less than-90 dBm are deleted, and 10 signal values of the remaining signals are acquired.
S211, regarding the N signal values of the first beacon, an average value of the 2 nd signal value and the 3 rd signal value is used as a 1 st first correction value.
S212, if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is smaller than or equal to a second threshold value, taking the mth signal value as an mth first correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer.
Wherein the second threshold is 15 dBm.
If the absolute value of the difference value between the mth signal value and the (m-1) th signal value is smaller than or equal to the second threshold value, the mth signal value is normal, which indicates that the measurement error is small and no correction is needed, so that the mth signal value can be directly used as the mth correction value.
S213, if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is larger than a second threshold value, taking the mean value of the (m-1) th signal value and the (m + 1) th signal value as an mth first correction value, and taking the mean value of the (N-2) th signal value and the (N-1) th signal value as an Nth first correction value. N-1 is more than or equal to m and more than or equal to 2.
If the absolute value of the difference between the mth signal value and the (m-1) th signal value is greater than the second threshold, the mth signal value is a singular value, which indicates that the measurement error is large and needs to be corrected.
For example, for the first beacon, if the 3 rd signal value is-60 dBm, the 4 th signal value is-30 dBm, and the 5 th signal value is-65 dBm, the absolute value of the difference between the 4 th signal value and the 3 rd signal value is 30dBm, which is greater than the second threshold value of 15dBm, and therefore, the mean value of the 3 rd signal value and the 5 th signal value is required to be the 4 th first correction value, that is, the 4 th first correction value is-62.5 dBm.
S214, smoothing the N first correction values, and calculating to obtain N first smoothing values.
Optionally, in S214, the smoothing processing is performed on the N first correction values, and the N first smoothing values are obtained through calculation, as shown in fig. 4, including:
s2141, when x is more than or equal to 1 and less than or equal to 3 and x is a positive integer, taking the xth first correction value as the xth first smooth value.
S2142, when x is not less than 4 and not more than N and x is a positive integer
Figure BDA0002111836330000121
Smoothing the xth first correction value, and calculating to obtain the xth first smoothed value A _ RSSI ″x。
Wherein, A _ RSSI'x-1Is the x-1 st first correction value, A _ RSSI'x-2Is the x-2 th first correction value, A _ RSSI'x-3Is the x-3 first correction value, k0＝4，k1＝3，k2＝2，k3＝1。
For example, for the first beacon a, if the 1 st first correction value is-60 dBm, the 2 nd first correction value is-62 dBm, the 3 rd first correction value is-60.5 dBm, and the 4 th first correction value is-62.5 dBm, the 4 th first correction value is smoothed, and the smoothing process is performed according to the result
Figure BDA0002111836330000122
The 4 th first smoothed value was calculated to be-61.55 dBm.
S215, calculating to obtain N relative distances between the first beacon and the point to be measured according to the N first smooth values.
Optionally, in S215, the calculating N relative distances between the first beacon and the point to be measured according to the N first smoothing values includes, as shown in fig. 5:
s2151, based on Δ A _ RSSI ″x＝A_RSSI″x-A_RSSImaxAnd calculating to obtain the xth first smooth value A _ RSSI ″xThe corresponding relative variation is Δ A _ RSSI ″x；A_RSSImaxIs the signal peak of the first beacon.
It should be noted that, the signal value of the first beacon may be measured multiple times, and the maximum value may be screened out as the signal peak value of the first beacon.
S2152, based on Δ A _ RSSI ″x＝-(10×b×lgdAx+ a), calculating to obtain the x-th relative distance d between the first beacon and the point to be measuredAx(ii) a Wherein a and b are environmental coefficients.
For example, if the signal peak value of the first beacon a is-50 dBm, the 4 th first smoothed value a _ RSSI ″ of the first beacon is obtained according to the example in S21424At-61.55 dBm, then Δ A _ RSSI ″4The 4 th first smoothed value a _ RSSI ″, which is-61.55 +50 ═ 11.55, is obtained for the first beacon4Corresponding relative change amount delta A _ RSSI ″4Was-11.55 dBm. If the environmental coefficient a is 1.5 and b is 2, the value is-11.55 ═ 10 × 2 × lgdA4+1.55), calculating the first beacon and the waiting beacon
4 th relative distance of measuring point
Figure BDA0002111836330000123
About 3.16 meters.
Optionally, sequentially obtaining a plurality of signal values of the second beacon, and obtaining N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon, as shown in fig. 6, includes:
s220, sequentially acquiring a plurality of signal values of the second beacon, deleting the signal values smaller than the first threshold value, and acquiring N signal values in the rest signal values.
S221, regarding the N signal values of the second beacon, an average value of the 2 nd signal value and the 3 rd signal value is used as a 1 st second correction value.
S222, if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is smaller than or equal to a second threshold value, taking the mth signal value as an mth first correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer.
S223, if the absolute value of the difference value between the mth signal value and the m-1 th signal value is larger than a second threshold value, taking the mean value of the m-1 th signal value and the m +1 th signal value as an mth second correction value, and taking the mean value of the N-2 th signal value and the N-1 th signal value as an Nth second correction value. N-1 is more than or equal to m and more than or equal to 2.
S224, smoothing the N second correction values, and calculating to obtain N second smoothed values.
Optionally, in S224, the smoothing processing is performed on the N second correction values, and the N second smoothing values are calculated, as shown in fig. 7, including:
s2241, when x is larger than or equal to 1 and smaller than or equal to 3 and is a positive integer, taking the xth second correction value as the xth second smooth value.
S2242, when x is more than or equal to 4 and less than or equal to N and x is a positive integer, according to
Figure BDA0002111836330000131
Smoothing the xth second correction value, and calculating to obtain the xth second smoothing value B _ RSSI ″x。
Wherein, B _ RSSI'x-1Is the x-1 th second correction value, B _ RSSI'x-2Is the x-2 th second correction value, B _ RSSI'x-3Is the x-3 th second correction value.
S225, calculating N relative distances between the second beacon and the point to be measured according to the N second smooth values.
Optionally, in S225, the N relative distances between the second beacon and the point to be measured are calculated according to the N second smoothing values, as shown in fig. 8, including:
s2251, according to delta B _ RSSI ″x＝B_RSSI″x-B_RSSImaxAnd calculating to obtain the mth second smooth value B _ RSSI ″xThe corresponding relative variation is B _ Delta RSSI ″x。B_RSSImaxThe signal peak of the second beacon.
It should be noted that, the signal value of the second beacon may be measured multiple times, and the maximum value may be screened out as the signal peak value of the second beacon.
S2252, according to delta B _ RSSI ″x＝-(10×b×lgdBx+ a), calculating to obtain the x-th relative distance d between the second beacon and the point to be measuredBx。
For example, if the signal peak value of the second beacon is-67.8 dBm, the 4 th smoothed value B _ RSSI ″' of the second beacon is calculated4Is-83.3 dBm, then Δ B _RSSI″4The 4 th second smoothed value B _ RSSI ″, which is-83.3 +67.8 ═ 15.5, of the second beacon is obtained4The corresponding relative change was-15.5 dBm. If the environmental coefficient a is 1.5 and b is 2, the value is determined by-15.5 ═ 10 × 2 × lgdB4+1.5) to calculate the 4 th relative distance d between the second beacon and the point to be measuredB4＝100.7Approximately 5.01 meters.
Optionally, in S30, calculating an ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured, as shown in fig. 9, the method includes:
s301, comparing the ith relative distance between the first beacon and the point to be measured with the ith relative distance between the second beacon and the point to be measured.
S302, if the ith relative distance between the first beacon and the point to be measured is smaller, calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured, the ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured and the third relative distance between the first beacon and the second beacon. The first weight refers to the correction degree of the error calculated according to the ith relative distance between the first beacon and the point to be measured.
If the ith relative distance between the first beacon and the point to be measured is smaller, the point to be measured is closer to the first beacon position, and the received signal value is more accurate if the distance is close, so that the calculated data of the ith relative distance between the first beacon and the point to be measured is more accurate, and the calculated data of the ith weighted distance between the first beacon and the point to be measured is more accurate.
It should be noted that, theoretically, the sum of the relative distance between the first beacon and the point to be measured and the relative distance between the second beacon and the point to be measured is equal to the third relative distance between the first beacon and the second beacon, but due to the condition limitation of measurement and various factors, there is an error in measurement, so that the calculation result is inaccurate, and the sum of the relative distance between the first beacon and the point to be measured and the relative distance between the second beacon and the point to be measured is not equal to the third relative distance between the first beacon and the second beacon. Therefore, the relative distance needs to be weighted and corrected, so that the calculation result is closer to the real situation.
Optionally, in S302, if the ith relative distance between the first beacon and the point to be measured is smaller, calculating an ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured, an ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured, and a third relative distance between the first beacon and the second beacon, as shown in fig. 10, the calculating includes:
s3021, according to
Figure BDA0002111836330000151
Calculating to obtain an ith first weight w corresponding to the ith relative distance between the first beacon and the point to be measuredAi。ΔA_RSSI″iIs the relative variation, Δ B _ RSSI ″, corresponding to the ith first smoothed value of the first beaconiThe first beacon is a relative change corresponding to the ith second smooth value of the second beacon.
S3022 according to DAi＝dAi+(s-dAi-dBi)×wAiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi. Where s is the third relative distance between the first and second beacons, dAiIs the ith relative distance, d, of the first beacon from the point to be measuredBiIs the ith relative distance between the second beacon and the point to be measured.
Illustratively, Δ A _ RSSI obtained according to the examples in S2152 and S2252 "4＝-11.5，ΔB_RSSI”415.5, calculating the 4 th first weight corresponding to the 4 th relative distance between the first beacon and the point to be measured as
Figure BDA0002111836330000152
If the third relative distance S between the first beacon and the second beacon is 10(m), d is obtained according to the examples in S2152 and S2252A4＝3.16(m),dB45.01(m), in this case according to DA43.16+ (10-3.16-5.01) × 0.57 ═ 4.2, calculatedAnd obtaining the 4 th weighted distance between the first beacon and the point to be measured as 4.2 meters.
S303, if the ith relative distance between the second beacon and the point to be measured is smaller, calculating to obtain the ith weighted distance between the second beacon and the point to be measured according to the ith relative distance between the second beacon and the point to be measured, the ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured and the third relative distance between the first beacon and the second beacon, and then calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the third relative distance. The second weight refers to the correction degree of the error calculated according to the ith relative distance between the second beacon and the point to be measured.
If the ith relative distance between the second beacon and the point to be measured is smaller, the point to be measured is closer to the second beacon position, and the received signal information is more accurate if the distance is closer. Therefore, the calculated data of the ith relative distance between the second beacon and the point to be measured is more accurate, and the calculated data of the ith weighted distance between the second beacon and the point to be measured is more accurate.
Optionally, in S303, if the ith relative distance between the second beacon and the point to be measured is smaller, calculating an ith weighted distance between the second beacon and the point to be measured according to the ith relative distance between the second beacon and the point to be measured, an ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured, and a third relative distance between the first beacon and the second beacon to obtain an ith weighted distance between the first beacon and the point to be measured, and then calculating an ith weighted distance between the first beacon and the point to be measured according to the third relative distance, as shown in fig. 11, the method includes:
s3031, according to
Figure BDA0002111836330000161
Calculating to obtain an ith second weight w corresponding to the ith relative distance between the second beacon and the point to be measuredBi。
S3032, according to DBi＝dBi+(s-dAi-dBi)×wBiCalculating to obtain the ith weighted distance D between the second beacon and the point to be measuredBi。
S3033, according to DAi＝s-DBiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi。
Illustratively, if Δ A _ RSSI "4＝-15.5，ΔB_RSSI”4If the distance between the second beacon and the measured point is-11.5, the 4 th second weight corresponding to the 4 th relative distance between the second beacon and the measured point is calculated to be
Figure BDA0002111836330000162
If the third relative distance s between the first beacon and the second beacon is 10(m), d isA4＝5(m)，dB44(m), according to D B44+ (10-5-4) × 0.43 — 4.43, the 4 th weighted distance of the second beacon from the point to be measured is calculated to be 4.43 meters.
Then, again according to DA4＝s-DB4The 4 th weighted distance of the first beacon from the point to be measured is calculated to be 5.57 meters, 10-4.43 being 5.57 meters.
Optionally, the acquiring of the initial velocity of the point to be measured when passing through the first beacon in S40 includes:
and calculating the obtained average speed according to the fourth relative distance between the third beacon and the first beacon and the time difference of the point to be measured passing through the third beacon and the first beacon, wherein the obtained average speed is used as the initial speed of the point to be measured passing through the first beacon. The third beacon is a beacon which passes through the point to be measured before the first beacon and is closest to the first beacon.
It should be noted that, according to the characteristic of the continuity of the movement, the speed of the previous time period can be used as the current speed. Therefore, in the case where the point to be measured passes through the third beacon, passes through the first beacon, and moves toward the second beacon, the average speed of the point to be measured when passing through the third beacon and the first beacon can be taken as the initial speed when passing through the first beacon.
For example, as shown in fig. 12, the third beacon is C, the first beacon is a, the second beacon is B, and the point P to be measured moves to the second beacon along the first direction I after passing through the third beacon and the first beacon in sequence. Third Beacon C and first BeaconThe fourth relative distance between the labels A is sCAWhen the time difference Δ t between the point to be measured passing through the third beacon C and the first beacon a is 4s, the average speed V is 2.5m/s, and thus the initial speed of the point to be measured passing through the first beacon a is 2.5 m/s.
Optionally, in S50, sequentially obtaining a jth coordinate position of the point to be measured along the first direction and a corresponding speed by using a kalman filter algorithm according to the initial speed and the ith weighted distance between the first beacon and the point to be measured, as shown in fig. 13, the method includes:
s501, establishing a system state equation
Figure BDA0002111836330000171
And obtaining the corresponding relation between the positions and the speeds of the two adjacent groups of coordinates.
Wherein x isj-1Is the j-1 th coordinate position along the first direction, xjFor the jth coordinate position along said first direction, vj-1The corresponding speed v of the point to be measured at the j-1 th coordinate positionjIs the corresponding speed of the measured point at the jth coordinate position, delta j is the time difference of the measured point moving from the jth-1 coordinate position to the jth coordinate position, and vj-1＝v0+，v0The initial speed is the speed variation.
S502, establishing an observation equation
Figure BDA0002111836330000181
S503, according to the ith weighted distance between the first beacon and the point to be measured, calculating by using a system state equation and an observation equation to obtain the jth coordinate position of the point to be measured along the first direction as xAjAnd corresponding velocity is vAj。
For example, when the ith weighted distance between the first beacon and the point to be measured is calculated to be DAiThen, substitute into the system equation of state, at this time, xj-1＝DAiCorresponding to a velocity vj-1＝v0And therefore, the coordinate position of the point to be measured after the time of delta j is moved is xj＝DAi+Δj×(v0+)，vj＝vj-1＝v0At the moment, after the calculation of the observation equation, the jth coordinate position x of the point to be measured along the first directionAjIs DAi+Δj×(v0(+) corresponding speed vAjIs v is0+. And substituting the coordinate position into a system state equation and an observation equation to obtain the coordinate position and the corresponding speed of the point to be measured after the next delta j time.
The embodiment of the invention also provides computer equipment, which comprises a storage unit and a processing unit; a storage unit in which a computer program executable on the processing unit is stored and the result is stored; the processing unit, when executing the computer program, implements the positioning method based on bluetooth low energy technology as described above.
Embodiments of the present invention also provide a computer readable medium, which stores a computer program, and when the computer program is executed by a processor, the positioning method based on the bluetooth low energy technology is implemented.
An embodiment of the present invention further provides a positioning system based on bluetooth low energy technology, as shown in fig. 14, including: a scanner 1, a beacon 2, a terminal 3, and a server 4;
the scanner 1 is configured to scan license plate information and transmit the license plate information to the server 4.
Beacon 2 is configured to continuously broadcast signal values.
The terminal 3 is configured to receive the signal value of the beacon 2 and transmit the received signal value of the beacon to the server 4. The server 4 comprises a memory 41 and a processor 42, the memory 41 storing computer programs executable on the processor and storing results; the processor 42 is configured to implement the bluetooth low energy technology based positioning method as described above when executing the computer program. The processor 42 is further configured to obtain a positioning result according to the coordinate position of the point to be measured, i.e. the corresponding speed, and send the positioning result to the terminal 3, so that the terminal 3 displays the positioning result.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (13)

1. A positioning method based on a low power consumption Bluetooth technology is characterized by comprising the following steps:
determining the position of a second beacon according to the position of the first beacon and the first direction; the first beacon refers to a beacon which is passed by the point to be measured and is closest to the point to be measured, the first direction is used for indicating the moving direction of the point to be measured, and the second beacon refers to a beacon which is the smallest in distance from the first beacon along the first direction;
sequentially acquiring a plurality of signal values of the first beacon, simultaneously sequentially acquiring a plurality of signal values of the second beacon, acquiring N relative distances between the first beacon and a point to be measured according to the plurality of signal values of the first beacon, and acquiring N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon; the signal value is the Bluetooth information intensity;
calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured; wherein i is a positive integer which begins to be valued from 1, and i is not more than N;
acquiring the initial speed of the point to be measured when the point passes through the first beacon;
sequentially obtaining a jth coordinate position and a corresponding speed of the point to be measured along the first direction according to the initial speed and the ith weighted distance between the first beacon and the point to be measured; j is more than or equal to i +1, and j is a positive integer;
calculating an ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured and the ith relative distance between the second beacon and the point to be measured, wherein the calculating comprises the following steps:
comparing the ith relative distance between the first beacon and the point to be measured with the ith relative distance between the second beacon and the point to be measured;
if the ith relative distance between the first beacon and the point to be measured is smaller, calculating to obtain the ith weighted distance between the first beacon and the point to be measured according to the ith relative distance between the first beacon and the point to be measured, the ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured and the third relative distance between the first beacon and the second beacon; the first weight refers to the correction degree of errors calculated according to the ith relative distance between the first beacon and the point to be measured;
if the ith relative distance between the second beacon and the point to be measured is smaller, calculating to obtain an ith weighted distance between the second beacon and the point to be measured according to the ith relative distance between the second beacon and the point to be measured, an ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured and the third relative distance between the first beacon and the second beacon, and calculating to obtain an ith weighted distance between the first beacon and the point to be measured according to the third relative distance; the second weight refers to the correction degree of the error calculated according to the ith relative distance between the second beacon and the point to be measured.
2. The positioning method based on bluetooth low energy technology according to claim 1, wherein the obtaining a plurality of signal values of the first beacon in sequence, and obtaining N relative distances between the first beacon and the point to be measured according to the plurality of signal values of the first beacon comprises:
sequentially acquiring a plurality of signal values of the first beacon, deleting the signal values smaller than a first threshold value, and acquiring N signal values in the rest signal values;
regarding the N signal values of the first beacon, taking the average value of the 2 nd signal value and the 3 rd signal value as the 1 st first correction value;
if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is less than or equal to a second threshold value, taking the mth signal value as an mth first correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer;
if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is larger than a second threshold value, taking the mean value of the (m-1) th signal value and the (m + 1) th signal value as an mth first correction value, and taking the mean value of the (N-2) th signal value and the (N-1) th signal value as an Nth first correction value; n-1 is more than or equal to m and more than or equal to 2;
smoothing the N first correction values, and calculating to obtain N first smoothing values;
calculating N relative distances between the first beacon and the point to be measured according to the N first smooth values;
sequentially acquiring a plurality of signal values of the second beacon, and obtaining N relative distances between the second beacon and the point to be measured according to the plurality of signal values of the second beacon, wherein the method comprises the following steps:
sequentially acquiring a plurality of signal values of the second beacon, deleting the signal values smaller than the first threshold value, and acquiring N signal values in the rest signal values;
regarding the N signal values of the second beacon, taking the average value of the 2 nd signal value and the 3 rd signal value as a 1 st second correction value;
if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is less than or equal to a second threshold value, taking the mth signal value as an mth second correction value; n is more than or equal to m and more than or equal to 2, and m is a positive integer;
if the absolute value of the difference value between the mth signal value and the (m-1) th signal value is larger than a second threshold value, taking the mean value of the (m-1) th signal value and the (m + 1) th signal value as an mth second correction value, and taking the mean value of the (N-2) th signal value and the (N-1) th signal value as an Nth second correction value; n-1 is more than or equal to m and more than or equal to 2;
smoothing the N second correction values, and calculating to obtain N second smoothed values;
and calculating N relative distances between the second beacon and the point to be measured according to the N second smooth values.
3. The positioning method based on bluetooth low energy technology according to claim 2, wherein smoothing the N first correction values to obtain N first smoothed values comprises:
when x is more than or equal to 1 and less than or equal to 3 and is a positive integer, taking the xth first correction value as the xth first smooth value; when x is not less than 4 and not more than N and x is a positive integer
Figure FDA0002641364560000031
Smoothing the xth first correction value to obtain the xth first smoothed value A _ RSSI'x；
Wherein, A _ RSSI'x-1Is the x-1 st first correction value, A _ RSSI'x-2Is the x-2 th first correction value, A _ RSSI'x-3Is the x-3 first correction value, k0＝4，k1＝3，k2＝2，k3＝1。
4. The positioning method based on bluetooth low energy technology according to claim 2, wherein calculating N relative distances between the first beacon and the point to be measured according to N first smoothing values comprises:
according to Δ A _ RSSI "x＝A_RSSI”x-A_RSSImaxThe x-th first smoothed value A _ RSSI is calculated "xThe corresponding relative change amount is Δ A _ RSSI "x；A_RSSImaxA signal peak for the first beacon;
according to Δ A _ RSSIx＝-(10×b×lgdAx+ a), calculating to obtain the x-th relative distance d between the first beacon and the point to be measuredAx(ii) a Wherein a and b are environmental coefficients.
5. The positioning method based on bluetooth low energy technology according to claim 2, wherein smoothing the N second correction values to obtain N second smoothed values comprises:
when x is more than or equal to 1 and less than or equal to 3 and is a positive integer, taking the xth second correction value as the xth second smooth value;
when x is not less than 4 and not more than N and x is a positive integer
Figure FDA0002641364560000041
Smoothing the xth second correction value to obtain the xth second smoothed value B _ RSSI'x；
Wherein, B _ RSSI'x-1Is the x-1 th second correction value, B _ RSSI'x-2Is the x-2 th second correction value, B _ RSSI'x-3Is the x-3 th second correction value, k0＝4，k1＝3，k2＝2，k3＝1。
6. The positioning method based on bluetooth low energy technology according to claim 2, wherein calculating N relative distances between the second beacon and the point to be measured according to N second smoothed values comprises:
according to Δ B _ RSSI "x＝B_RSSI”x-B_RSSImaxCalculating to obtain the x-th first smooth value B _ RSSI'xThe corresponding relative change amount is Δ B _ RSSI "x；B_RSSImaxA signal peak for the second beacon;
according to Δ B _ RSSIx＝(10×b×lgdBx+ a), calculating to obtain the x-th relative distance d between the second beacon and the point to be measuredBx(ii) a Wherein a and b are environmental coefficients.
7. The positioning method based on bluetooth low energy technology according to claim 1, wherein calculating an ith weighted distance between the first beacon and the point to be measured according to an ith relative distance between the first beacon and the point to be measured, an ith first weight corresponding to the ith relative distance between the first beacon and the point to be measured, and a third relative distance between the first beacon and the second beacon comprises:
according to
Figure FDA0002641364560000051
Calculating to obtain an ith first weight w corresponding to the ith relative distance between the first beacon and the point to be measuredAi；ΔA_RSSI”iFor the ith smoothed value pair of the first beaconCorresponding relative change, Δ B _ RSSI "iA relative variation corresponding to the ith smoothed value of the second beacon;
according to DAi＝dAi+(s-dAi-dBi)×wAiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi(ii) a Wherein s is the third relative distance between the first beacon and the second beacon, dAiIs the ith relative distance between the first beacon and the point to be measured, dBiThe ith relative distance between the second beacon and the point to be measured.
8. The positioning method based on the bluetooth low energy technology as claimed in claim 1, wherein an ith weighted distance between the second beacon and the point to be measured is calculated according to an ith relative distance between the second beacon and the point to be measured, an ith second weight corresponding to the ith relative distance between the second beacon and the point to be measured, and the third relative distance between the first beacon and the second beacon, and then an ith weighted distance between the first beacon and the point to be measured is calculated according to the third relative distance, including:
according to
Figure FDA0002641364560000052
Calculating to obtain an ith second weight w corresponding to the ith relative distance between the second beacon and the point to be measuredBi；
According to DBi＝dBi+(s-dAi-dBi)×wBiCalculating to obtain the ith weighted distance D between the second beacon and the point to be measuredBi；
According to DAi＝s-DBiCalculating to obtain the ith weighted distance D between the first beacon and the point to be measuredAi(ii) a Wherein s is the third relative distance between the first beacon and the second beacon, dAiIs the ith relative distance between the first beacon and the point to be measured, dBiThe ith relative distance between the second beacon and the point to be measured.
9. The positioning method based on the bluetooth low energy technology according to claim 1, wherein obtaining the initial velocity of the point to be measured when passing through the first beacon comprises:
calculating an average speed according to a fourth relative distance between a third beacon and the first beacon and a time difference of a point to be measured passing through the third beacon and the first beacon, wherein the average speed is used as an initial speed of the point to be measured passing through the first beacon; the third beacon is a beacon which passes before the point to be measured passes through the first beacon and is closest to the first beacon.
10. The positioning method based on bluetooth low energy technology according to claim 9, wherein obtaining a jth coordinate position of the point to be measured along the first direction and a corresponding speed in sequence according to the initial speed and an ith weighted distance between the first beacon and the point to be measured comprises:
establishing a system state equation
Figure FDA0002641364560000061
Obtaining the corresponding relation between the positions and the speeds of two adjacent groups of coordinates; wherein x isj-1Is the j-1 th coordinate position along the first direction, xjFor the jth coordinate position along said first direction, vj-1The corresponding speed v of the point to be measured at the j-1 th coordinate positionjIs the corresponding speed of the measured point at the jth coordinate position, delta j is the time difference of the measured point moving from the jth-1 coordinate position to the jth coordinate position, and vj-1＝v0+，v0The initial speed is the speed variation;
establishing an observation equation
Figure FDA0002641364560000071
According to the ith weighted distance between the first beacon and the point to be measured, the system state equation and the observation equation are utilized to calculate the point to be measuredThe j-th coordinate position along the first direction is xAjAnd corresponding velocity is vAj。
11. A computer device, comprising a storage unit and a processing unit; the storage unit stores therein a computer program executable on the processing unit and stores the result; the processing unit when executing the computer program realizes the bluetooth low energy technology based positioning method according to any of claims 1-10.
12. A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out a bluetooth low energy technology based positioning method according to any one of claims 1 to 10.
13. A positioning system based on bluetooth low energy technology, comprising: a scanner, a beacon, a terminal and a server;
the scanner is configured to scan license plate information and send the license plate information to the server;
the beacon is configured to continuously broadcast signal values;
the terminal is configured to receive the signal value of the beacon and send the received signal value of the beacon to the server; the server comprises a memory and a processor, the memory storing a computer program executable on the processor and storing results; the processor is configured to implement the bluetooth low energy technology based positioning method according to any of claims 1-10 when executing the computer program; the processor is also configured to obtain a positioning result according to the coordinate position of the point to be measured, namely the corresponding speed, and send the positioning result to the terminal so that the terminal can display the positioning result.
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