CN111263309A - Bluetooth beacon positioning method, device and equipment - Google Patents
Bluetooth beacon positioning method, device and equipment Download PDFInfo
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- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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Abstract
The invention discloses a method, a device and equipment for positioning a Bluetooth beacon, wherein the method comprises the following steps: determining the number ci of signals of the Bluetooth beacon received by the base station; determining a corresponding algorithm strategy according to the number ci of the signals; and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy. Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a positioning method, a positioning device and positioning equipment of a Bluetooth beacon.
Background
Currently, positioning a bluetooth beacon mainly depends on the strength of a received bluetooth broadcast signal RSSI, a distance is estimated according to the strength of the RSSI signal, and a coordinate is resolved according to a positioning algorithm in a two-dimensional plane 0xy or a three-dimensional space 0xyz to determine a positioning point. However, in practical applications, the fluctuation of the RSSI of the bluetooth beacon signal is large, the degree of interference of the RSSI by the external environment is also large, and the RSSI signal changes due to different contact surfaces, installation planes of the bluetooth beacon tag, and even the actions of people. In addition, many base station nodes are arranged on a wall or a roof, but many positioning algorithms are directly calculated by using a two-dimensional plane for coordinates, so that although the speed of the algorithm is improved, the component of a signal in the vertical direction is ignored, an error is generated, and particularly when the positioning algorithm is close to a base station, the error of the positioning by using the two-dimensional plane is very large. Therefore, it is preferable to establish the positioning calculation model in the three-dimensional space, but in the three-dimensional space positioning model, the number of beacon base stations is large, different beacons are complicated, it is difficult to establish a calculated three-dimensional model, and the overall error is also increased. If the pure mathematical model calculation under different conditions is considered, the variables are more, the algorithm complexity is high, and the positioning difficulty is higher. Therefore, it is necessary to search and find an efficient, multi-path, and specific bluetooth beacon positioning method, which can perform positioning in a complex three-dimensional space, improve accuracy, and reduce the influence of positioning fluctuation generated by bluetooth itself.
Aiming at the problems of lower positioning accuracy, larger error and lower efficiency in the related technology during the positioning of the Bluetooth beacon, no effective solution is provided at present.
Disclosure of Invention
In order to solve the problems of low positioning accuracy, large error and low efficiency in bluetooth beacon positioning in the related art, embodiments of the present invention provide a method, an apparatus and a device for positioning a bluetooth beacon.
In a first aspect, an embodiment of the present invention provides a method for locating a bluetooth beacon, where the method includes:
determining the number ci of signals of the Bluetooth beacon received by the base station;
determining a corresponding algorithm strategy according to the signal number ci;
and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy.
Further, the number of signals ci is at least one of 0,1, 2.
Further, when the signal number ci is 0, determining a corresponding algorithm strategy according to the signal number ci, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy includes:
and taking the positioning coordinate determined last time as the positioning coordinate of this time.
Further, the positioning coordinate determined last time is taken as the positioning coordinate of this time, and the method is realized by the following formula:
Bok＝Bj+Bok-1；
wherein, B isjIs the coordinate of the Bluetooth beacon to be positioned, j is a positive integer, Bj＝0；Bok-1K is a positive integer for the positioning coordinate determined last time; bokTo locate the coordinates.
Further, when the signal number ci is 1, determining a corresponding algorithm strategy according to the signal number ci, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy includes:
performing optimal average decomposition on the current positioning coordinate and the last positioning coordinate;
and performing second-order filtering and signal attenuation operation on the result after the optimal average decomposition so as to determine the positioning coordinate of the Bluetooth beacon.
Further, the optimal average decomposition of the current positioning coordinate and the last positioning coordinate is realized by the following formula:
Bok＝(Bj+Bok-1)/2；
the second-order filtering and signal attenuation operation of the result after the optimal average decomposition is realized by the following formula:
Bok＝Krssi(Bok-1+Qi)/2；
wherein, B isjIs the coordinate of the Bluetooth beacon to be positioned at this time, j is a positive integer, Bok-1K is a positive integer for the positioning coordinate determined last time; qi is the coordinate of the base station, Krssi is the attenuation coefficient, Krssi is AL, A is a constant, and L is the distance between the base station and the Bluetooth beacon which is fitted according to the Bluetooth signal; bokTo locate the coordinates.
Further, when the signal number ci is 2, determining a corresponding algorithm strategy according to the signal number ci, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy includes:
establishing a plane two-dimensional model; wherein the base stations on the planar two-dimensional model are represented by circles;
determining the number of intersection points of the two circles based on the plane two-dimensional model;
and determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy, wherein the number of the intersection points is at least one of 0,1 and 2.
Further, when the number of the intersection points is 1, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is realized by the following second-order filtering formula:
Bok＝(CK1*G0+CK2*Bok-1)*CK2*LQ；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the center coordinate of the nearest base station; g0 is the intersection point coordinate; bokTo locate the coordinates.
Further, when the number of the intersection points is 2, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is realized through the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*Bok-1；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the center coordinate of the nearest base station; g01、G02Coordinates of two intersection points are respectively; bokTo locate the coordinates.
Further, if the G01、G02To Bok-1Is L1, L2, respectively, the method further comprises:
if L1<The coordinates of the Bluetooth beacon to be positioned last time of the Bluetooth beacon L2 are BjDetermining a corresponding algorithm strategy according to the number of the intersection points and determining according to the algorithm strategyAnd determining the positioning coordinates of the Bluetooth beacon through the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*G01；
if L1>L2, and the coordinate of the last Bluetooth beacon to be positioned is BjDetermining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy through the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*G02。
further, when the number of the intersection points is 0, before determining the corresponding algorithm strategy according to the number of the intersection points and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy, the method further includes:
determining virtual intersection points GO0；
Determining the circle center distance of the two circles as L;
determining GO according to a preset proportional scale relation0＝(Q1+Q2)/2+L1/L2；
Wherein Q is1、Q2Are respectively the center coordinates of two circles, and L1 and L2 are respectively G01、G02To Bok-1The distance of (d); g01、G02Respectively as the coordinates of two intersection points of the two circles;
further, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is realized through the following second-order filtering formula:
Bok＝CK1*GO0+CK2*Bok-1(ii) a Wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; bokTo locate the coordinates.
Further, CK1＝0.8，CK2＝0.2。
In a second aspect, an embodiment of the present invention provides a positioning apparatus for a bluetooth beacon, the apparatus being configured to perform the method according to the first aspect, and the apparatus including:
the signal number determining module is used for determining the number ci of signals of the Bluetooth beacon received by the base station;
the algorithm strategy determining module is used for determining a corresponding algorithm strategy according to the signal number ci;
and the positioning coordinate determination module is used for determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy.
Further, the number of signals ci is at least one of 0,1, 2.
In a third aspect, an embodiment of the present invention provides a bluetooth beacon locating device, where the device includes the apparatus recited in claim 14 or 15.
By applying the technical scheme of the invention, the number ci of signals of the Bluetooth beacon received by the base station is determined; determining a corresponding algorithm strategy according to the number ci of the signals; and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy. Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
Drawings
Fig. 1 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 5A is a schematic diagram of a positioning calculation model of positioning coordinates when ci is 2 and the intersection point is 2 according to an embodiment of the present invention;
fig. 5B is a schematic diagram of a positioning calculation model of positioning coordinates when ci is 2 and the intersection point is 0 according to an embodiment of the present invention;
fig. 5C is a schematic diagram of a positioning calculation model of positioning coordinates when ci is 2 and the intersection point is 1 according to an embodiment of the present invention;
fig. 5D is a schematic diagram of an ideal model of positioning solution for positioning coordinates when ci is 2 according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for locating a bluetooth beacon according to an embodiment of the present invention;
fig. 8 is a block diagram of a positioning apparatus of a bluetooth beacon according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments, it being understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
The following provides a general description of the present invention to make the reader clearly understand the premise and application scenario of the following implementation of the present invention. The application scenarios of the embodiment of the invention are as follows: the base station locates the bluetooth beacon. Suppose the coordinate point of the beacon to be positioned is Bj (x, y, z), j>Assuming that the arrangement of the base stations resides in one plane, that is, z is 0, and thus, the coordinate points of the base stations receiving the beacon Bj signal are Q1(x1, y1, 0), Q2(x2, y2, 0), Q3(x3, y3, 0) … Qn (xn, yn, 0) (i 3, y3, 0)<n, n is the total number of base stations). In practical engineering, different base stations may scan a plurality of different beacons, and during the scanning process, the number of base stations receiving the beacon Bj may have any value of 0,1,2,3 … n, i.e., the number ci of signals corresponding to the following may have the value of 0,1,2,3 … n. The following figures respectively show the flow of the phased model and specialized positioning algorithm analysis when ci is different values. And according to the difference of ci, i.e. the number of signals scanned by the base station, can beAnd establishing a two-dimensional or three-dimensional space positioning model. Therefore, the model can be more simplified, and the efficiency and the positioning accuracy of the positioning algorithm can be improved. It can be understood that the coordinates of the algorithm-based positioning represent the coordinates of the beacon obtained through the algorithm calculation processing, and the finally output positioning coordinates BokAnd the positioning coordinates which are finally output and obtained by the Bluetooth beacon through a positioning algorithm, relevant logic processing and filtering processing are represented. Obviously, after the filtering processing, the effects of reducing the positioning error and improving the positioning precision can be achieved.
In order to solve the problems of low positioning accuracy, large error and low efficiency in bluetooth beacon positioning in the related art, an embodiment of the present invention provides a method for positioning a bluetooth beacon, as shown in fig. 1, where the method includes:
step S101, determining the number ci of signals of the Bluetooth beacon received by the base station;
step S102, determining a corresponding algorithm strategy according to the signal number ci;
and step S103, determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy.
Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
In one possible implementation, the number of signals ci is at least one of 0,1, 2.
In the first case: when the signal number ci is 0, determining a corresponding algorithm strategy according to the signal number ci, wherein the determining of the positioning coordinate of the bluetooth beacon according to the algorithm strategy comprises the following steps: and taking the positioning coordinate determined last time as the positioning coordinate of this time. The positioning coordinate determined last time is taken as the positioning coordinate of this time, and the positioning coordinate is realized through the following formula: bok＝Bj+Bok-1(ii) a Wherein, BjIs the coordinate of the Bluetooth beacon to be positioned, j is a positive integer, Bj＝0；Bok-1K is a positive integer for the positioning coordinate determined last time; bokTo locate the coordinates.
When ci is 0, the base station does not locate any tag information, namely BjWhen 0, the last coordinate output, i.e., Bo, may be assignedk＝Bj+Bok-1. And the algorithm model is as shown in the figure.
In the second case: as shown in fig. 2, when the number of signals ci is 1, determining a corresponding algorithm strategy according to the number of signals ci, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy includes:
step S201, performing optimal average decomposition on the current positioning coordinate and the last positioning coordinate;
and S202, performing second-order filtering and signal attenuation operation on the result after the optimal average decomposition to determine the positioning coordinate of the Bluetooth beacon.
The optimal average decomposition of the current positioning coordinate and the last positioning coordinate is realized by the following formula:
Bok＝(Bj+Bok-1)/2；
the second-order filtering and signal attenuation operation of the result after the optimal average decomposition is realized by the following formula:
Bok＝Krssi(Bok-1+Qi)/2；
wherein, BjIs the coordinate of the Bluetooth beacon to be positioned at this time, j is a positive integer, Bok-1K is a positive integer for the positioning coordinate determined last time; qi is the coordinate of the base station, Krssi is the attenuation coefficient, Krssi is AL, A is a constant, and L is the distance between the base station and the Bluetooth beacon which is fitted according to the Bluetooth signal; bokTo locate the coordinates.
When ci is 1, it means that only one base station scans the beacon coordinate B to be located at this timejThus, a specific coordinate position cannot be determined, that is, a positioning area of a base station can be considered in this case, and a positioning point cannot be determined. The coordinate Bj to be positioned and the coordinate Bo output by the last beacon can be obtainedk-1Performing optimal average decomposition, and performing second-order filtering by combining the last output position, namely assuming the last positioned output coordinate of the last label Bj to be positioned as Bok-1(Boxk-1，Boyk-1) { k is the positioning times }, the positioning coordinates output by the system are: bok＝(Bj+Bok-1)/2。
In the third case: as shown in fig. 3, when the number of signals ci is 2, determining a corresponding algorithm strategy according to the number of signals ci, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy includes:
s301, establishing a planar two-dimensional model;
wherein, the base stations on the plane two-dimensional model are represented by circles;
s302, determining the number of intersection points of two circles based on a plane two-dimensional model;
and S303, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy, wherein the number of the intersection points is at least one of 0,1 and 2. 5A, 5B, 5C show the positioning calculation model diagrams of the positioning coordinates when the number of the intersection points is 2, 0,1, respectively.
In a possible implementation manner, when the number of the intersection points is 1, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is implemented by the following second-order filtering formula:
Bok＝(CK1*G0+CK2*Bok-1)*CK2*LQ；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the circle center coordinate of the nearest base station; g0 is the intersection point coordinate; bokTo locate the coordinates.
In a possible implementation manner, when the number of the intersection points is 2, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is implemented by the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*Bok-1；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the circle center coordinate of the nearest base station; g01、G02Coordinates of two intersection points are respectively; bokTo locate the coordinates.
Note that, if G01、G02To Bok-1Is L1, L2, respectively, the method further comprises: if L1<The coordinates of the Bluetooth beacon to be positioned last time of the Bluetooth beacon L2 are BjDetermining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy through the following second-order filtering formula: bok＝CK1*(G01+G02)/2+CK2*G01(ii) a If L1>L2, and the coordinate of the last Bluetooth beacon to be positioned is BjDetermining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy through the following second-order filtering formula: bok＝CK1*(G01+G02)/2+CK2*G02。
In one possible implementation manner, as shown in fig. 4, when the number of intersections is 0, before determining the corresponding algorithm policy according to the number of intersections and determining the positioning coordinates of the bluetooth beacon according to the algorithm policy, the method further includes:
step S401, determining virtual intersection point GO0；
S402, determining the distance between the centers of two circles to be L;
step S403, determining GO according to a preset proportional scale relation0＝(Q1+Q2)/2+L1/L2；
Wherein Q is1、Q2Are respectively the center coordinates of two circles, and L1 and L2 are respectively G01、G02To Bok-1The distance of (d); g01、G02Respectively the coordinates of two intersection points of two circles, wherein, the corresponding algorithm strategy is determined according to the number of the intersection points, and the algorithm strategy is determined according to the algorithm strategyThe positioning coordinate of the Bluetooth beacon is determined through the following second-order filtering formula: bok＝CK1*GO0+CK2*Bok-1(ii) a Wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; bokTo locate the coordinates.
It is understood that CK in the above implementation1And CK2Are second-order filter coefficients and can be obtained through multiple experimental analysis, CK1Can take the value of 0.8, CK2Values of 0.2 can be taken.
To briefly describe the above three possible implementations, when ci is 2, which means that 2 base stations scan the label Bj at this time, an area may be determined, and the algorithm model is shown in fig. 5A (two circles intersect). Then, the positioning model of this time can be regarded as positioning on a two-dimensional plane, and uncertain related parameters can be reduced, for example: and the influence of Z-axis deviation on X-axis and Y-axis positioning is reduced. After the distance RSSI is estimated, two base stations can be used as the center of a circle, and the distance is a radius Rc, where c is 1, 2. When ci is 2, the description is given in three cases: when there is an intersection (as shown in fig. 5C), the intersection is G0(x, y), and the output coordinate may be Bo, considering the coordinate of the last positioning to the nearest base station as LQk＝(CK1*G0+CK2*Bok-1) CK2 × LQ; CK1 and CK2 are second-order filter coefficients, and CK1 may be 0.8 and CK2 may be 0.2. When there are two intersection points (as shown in fig. 5A), the intersection points are G01(x1, y1) and G02(x2, y2), and the distances from the two intersection points to the last output positioning coordinate are L1 and L2, respectively. If there is no intersection point (as shown in fig. 5B, two circles are separated from each other), a virtual intersection point GO0 can be confirmed first, and if the distance between two base stations is L, the virtual intersection point can be represented by a proportional scale relationship, i.e., GO0 is (Q1+ Q2)/2+ L1/L2, and the filter output positioning coordinate Bo is determined in consideration of the influence of motionk＝0.8*GO0+0.2*Bok-1. Wherein 5D shows the positioning coordinate B when Ci is 2kThe ideal model of the model is solved for the location of (1).
The embodiment of the invention effectively reduces the positioning error caused by the fluctuation of the RSSI signal of the Bluetooth beacon and improves the accuracy of system positioning. The method can carry out corresponding specific algorithm processing aiming at each condition of different numbers of received signals, thereby greatly improving the positioning precision of resolving. And by utilizing the multi-data filtering processing, the node combination mode and the co-construction mode of the coefficient calculation weight, the execution efficiency of the algorithm is improved, and the overall system error caused by a large number of signals is reduced.
Fig. 6 is a schematic diagram illustrating a positioning method of a bluetooth beacon when ci is 0 or ci is 1 according to an embodiment of the present invention, where the method includes:
step S601, the base station receives the data of the Bj;
step S602, storing data through a database and analyzing the data;
step S603, converting the RSSI into a fitted distance L, and acquiring the number i of received signals;
step S604, determine whether ci is 0 or 1? If ci is 0, perform step S605; if ci is 1, performing step S606;
step S605, assigning historical coordinates; then step S607 is executed;
step S607, Bok＝Bok-1(ii) a Then executing step S609;
step S606; acquiring a signal base station coordinate Qi, converting the signal base station coordinate into a coefficient Krssi which is AL, and A is a constant; then, step S608 is executed;
step S608; with Bok-1Bo is attenuated after smoothing filteringk＝Krssi(Bok-1+Qi)/2；
Step S609; output Bok。
Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
Fig. 7 is a schematic diagram illustrating a positioning method of a bluetooth beacon when ci is 2 according to an embodiment of the present invention, where, as shown in fig. 7, the method includes:
step S701, ci ═ 2;
s702, positioning by using a plane two-dimensional model;
step S703, after the positioning model is established, judging that a plurality of intersection points exist; the following conditions are respectively obtained; step S704, step S705, step S706;
step S704, no intersection point exists; then step 707 is executed;
step S705, if an intersection exists, then step S710 is executed;
step S706, two intersection points are formed, and then step S713 is executed;
step S707; establishing and confirming a virtual intersection point Q0;
step S708; establishing and confirming O0 by using the relation of a scale;
step S709; bok-1Performing second-order filtering with O0;
step S710; acquiring a last latest base station Q;
step S711; obtaining an intersection point O, and filtering with the last output;
step S712; performing second-order filtering with the base station Qi with the strongest signal at the last time;
step S713; two intersection points O1 and 02 and distances L1 and L2 are obtained
Step S714; obtaining the central coordinate Q of Q1Q2
Step S715; if L1> L2? If so, go to step S716; if not, go to step S717;
step S716; filtering with the base station Qi with the strongest signal at the last time;
step S717; and last Bok-1Performing second-order filtering;
after steps S709, S712, S716, and S717, step S718 is executed;
step S718; output Bok。
Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
Fig. 8 shows a positioning apparatus of a bluetooth beacon according to an embodiment of the present invention, the apparatus is configured to perform the method shown in the above embodiment, and the apparatus includes:
a signal number determining module 801, configured to determine the number ci of signals of the bluetooth beacon received by the base station;
an algorithm strategy determination module 802, configured to determine a corresponding algorithm strategy according to the number of signals ci;
and a positioning coordinate determining module 803, configured to determine the positioning coordinates of the bluetooth beacon according to an algorithm policy.
Therefore, a proper algorithm strategy can be selected according to the number of the signals, a proper processing mode is selected according to specific situations, and the proper algorithm processing is correspondingly carried out on each situation. Thereby achieving the effect of improving the positioning precision and the positioning efficiency.
In one possible implementation, the number of signals ci is at least one of 0,1, 2.
The embodiment of the invention also provides equipment of the Bluetooth beacon, and the equipment comprises the device shown in the figure 8.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a mobile terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments illustrated in the drawings, the present invention is not limited to the embodiments, which are illustrative rather than restrictive, and it will be apparent to those skilled in the art that many more modifications and variations can be made without departing from the spirit of the invention and the scope of the appended claims.
Claims (18)
1. A method for locating a bluetooth beacon, the method comprising:
determining the number ci of signals of the Bluetooth beacon received by the base station;
determining a corresponding algorithm strategy according to the signal number ci;
and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy.
2. The method according to claim 1, wherein the number of signals ci is at least one of 0,1, 2.
3. The method according to claim 2, wherein when the number of signals ci is 0, determining a corresponding algorithm strategy according to the number of signals ci, wherein determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy comprises:
and taking the positioning coordinate determined last time as the positioning coordinate of this time.
4. The method according to claim 3, wherein the last determined location coordinate is used as the location coordinate of the current time by the following formula:
Bok＝Bj+Bok-1；
wherein, B isjFor the coordinates of the Bluetooth beacon to be positioned this time, j is positive integerNumber, Bj＝0；Bok-1K is a positive integer for the positioning coordinate determined last time; bokTo locate the coordinates.
5. The method according to claim 2, wherein when the number of signals ci is 1, determining a corresponding algorithm strategy according to the number of signals ci, wherein determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy comprises:
performing optimal average decomposition on the current positioning coordinate and the last positioning coordinate;
and performing second-order filtering and signal attenuation operation on the result after the optimal average decomposition so as to determine the positioning coordinate of the Bluetooth beacon.
6. The method as claimed in claim 5, wherein the optimal average decomposition of the current location coordinate and the last location coordinate is performed by the following formula:
Bok＝(Bj+Bok-1)/2；
the second-order filtering and signal attenuation operation of the result after the optimal average decomposition is realized by the following formula:
Bok＝Krssi(Bok-1+Qi)/2；
wherein, B isjIs the coordinate of the Bluetooth beacon to be positioned at this time, j is a positive integer, Bok-1K is a positive integer for the positioning coordinate determined last time; qi is the coordinate of the base station, Krssi is the attenuation coefficient, Krssi is AL, A is a constant, and L is the distance between the base station and the Bluetooth beacon which is fitted according to the Bluetooth signal; bokTo locate the coordinates.
7. The method according to claim 2, wherein when the number of signals ci is 2, determining a corresponding algorithm strategy according to the number of signals ci, wherein determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy comprises:
establishing a plane two-dimensional model; wherein the base stations on the planar two-dimensional model are represented by circles;
determining the number of intersection points of the two circles based on the plane two-dimensional model;
and determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the Bluetooth beacon according to the algorithm strategy, wherein the number of the intersection points is at least one of 0,1 and 2.
8. The method of claim 7, wherein when the number of the intersection points is 1, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is implemented by the following second-order filtering formula:
Bok＝(CK1*G0+CK2*Bok-1)*CK2*LQ；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the center coordinate of the nearest base station; g0 is the intersection point coordinate; bokTo locate the coordinates.
9. The method of claim 7, wherein when the number of the intersection points is 2, determining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy is implemented by the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*Bok-1；
wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; LQ is Bok-1Distance from nearest base station, i.e. Bok-1Distance from the center coordinate of the nearest base station; g01、G02Coordinates of two intersection points are respectively; bokTo locate the coordinates.
10. The method of claim 9, wherein the step of removing the metal oxide layer is performed ifThe G01、G02To Bok-1Is L1, L2, respectively, the method further comprises:
if L1<The coordinates of the Bluetooth beacon to be positioned last time of the Bluetooth beacon L2 are BjDetermining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy through the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*G01；
if L1>L2, and the coordinate of the last Bluetooth beacon to be positioned is BjDetermining a corresponding algorithm strategy according to the number of the intersection points, and determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy through the following second-order filtering formula:
Bok＝CK1*(G01+G02)/2+CK2*G02。
11. the method of claim 7, wherein when the number of intersections is 0, before determining the corresponding algorithm strategy according to the number of intersections and determining the positioning coordinates of the bluetooth beacon according to the algorithm strategy, the method further comprises:
determining virtual intersection points GO0；
Determining the circle center distance of the two circles as L;
determining GO according to a preset proportional scale relation0＝(Q1+Q2)/2+L1/L2；
Wherein Q is1、Q2Are respectively the center coordinates of two circles, and L1 and L2 are respectively G01、G02To Bok-1The distance of (d); g01、G02Respectively, the coordinates of the two intersections of the two circles.
12. The method of claim 11, wherein determining the corresponding algorithm strategy according to the number of the intersections is performed by the following second-order filtering formula:
Bok＝CK1*GO0+CK2*Bok-1(ii) a Wherein CK1And CK2Is a second order filter coefficient; bok-1Is the last positioning coordinate, and k is a positive integer; bokTo locate the coordinates.
13. The method according to any one of claims 8 to 12,
CK1＝0.8，CK2＝0.2。
14. an apparatus for locating a bluetooth beacon, the apparatus being configured to perform the method of any one of claims 1 to 13, the apparatus comprising:
the signal number determining module is used for determining the number ci of signals of the Bluetooth beacon received by the base station;
the algorithm strategy determining module is used for determining a corresponding algorithm strategy according to the signal number ci;
and the positioning coordinate determination module is used for determining the positioning coordinate of the Bluetooth beacon according to the algorithm strategy.
15. The apparatus of claim 14, wherein the number of signals ci is at least one of 0,1, and 2.
16. A bluetooth beacon location device, comprising the apparatus of claim 14 or 15.
17. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of locating a bluetooth beacon as claimed in any one of claims 1 to 13.
18. A storage medium containing computer executable instructions for performing the method of locating a bluetooth beacon of any one of claims 1 to 13 when executed by a computer processor.
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