CN111819869B

CN111819869B - Positioning method, device and system

Info

Publication number: CN111819869B
Application number: CN201980013251.4A
Authority: CN
Inventors: 龚文杰
Original assignee: Shenzhen Goodix Technology Co Ltd
Current assignee: Shenzhen Goodix Technology Co Ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2022-09-02
Anticipated expiration: 2039-12-19
Also published as: CN111819869A; WO2021120110A1

Abstract

A positioning method, a positioning device and a positioning system can realize the purpose of positioning objects in a certain area with low cost, high precision and long time. The positioning method is applied to a mixed wireless system of an MESH network of BLE and a cellular mobile communication network, the mixed wireless system comprises a plurality of Bluetooth positioning base stations, an MESH gateway and a positioning server, the plurality of Bluetooth positioning base stations are communicated with the MESH gateway through the MESH network, and the MESH gateway is communicated with the positioning server through the cellular mobile communication network; the method comprises the following steps: the MESH gateway receives positioning data sent by at least one Bluetooth positioning base station, wherein the positioning data is the positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise at least one Bluetooth positioning base station; and the MESH gateway sends the positioning data to the positioning server.

Description

Positioning method, device and positioning system

Technical Field

The embodiment of the application relates to the technical field of positioning, and more particularly relates to a positioning method, a positioning device and a positioning system.

Background

Animals are an indispensable component of the natural ecosystem. For better animal management and monitoring, some farms, wildlife parks, or animal research facilities require the positioning of animals in certain areas outdoors to track animal activity.

However, some current positioning methods have high positioning cost and are not suitable for fields such as farms, wild zoos or animal wild bases.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device and a positioning system, which can achieve the purpose of positioning an object in a certain area for a long time at low cost and high precision.

In a first aspect, a positioning method is provided, where the method is applied to a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, where the hybrid wireless system includes a plurality of bluetooth positioning base stations, a MESH gateway, and a positioning server, the bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the method includes: the MESH gateway receives positioning data sent by at least one Bluetooth positioning base station, wherein the positioning data is the positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station; and the MESH gateway sends the positioning data to the positioning server through the cellular mobile communication network, wherein the positioning data is used for the positioning server to determine the position information of the target object.

In some possible implementations, a bluetooth locator is disposed on the target object, and the positioning data includes positioning signal data determined by the at least one bluetooth positioning base station according to a positioning signal sent by the bluetooth locator.

In some possible implementations, the positioning signal data includes a received signal strength indication, RSSI, and/or a signal reception angle between the target object and the at least one bluetooth positioning base station.

In some possible implementations, the positioning data further includes an identification of the target object and/or an identification of the at least one bluetooth positioning base station; the positioning server stores the corresponding relation between the object identification and the object, and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

In some possible implementations, the positioning data further includes a timestamp at which the at least one bluetooth positioning base station transmits the positioning data.

In some possible implementations, the timestamp is a timestamp based on a local time of the MESH network, and a data length of the local time is smaller than a data length of a world standard time.

In some possible implementations, the positioning data sent by the MESH gateway to the positioning server further includes a world standard time corresponding to a start time of the local area time.

In some possible implementations, the method further includes: the MESH gateway determines the local area time.

In some possible implementations, the method further includes: if the MESH gateway passes through the cellular mobile communication network, the MESH gateway does not successfully send the positioning data to the positioning server, and the MESH gateway stores the positioning data; and the MESH gateway resends the positioning data to the positioning server in the first time.

In a second aspect, a positioning method is provided, where the method is applied to a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, where the hybrid wireless system includes a plurality of bluetooth positioning base stations, a MESH gateway, and a positioning server, the bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the method includes: at least one Bluetooth positioning base station acquires a positioning instruction, wherein the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station; the at least one Bluetooth positioning base station acquires positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station based on the positioning instruction; and the at least one Bluetooth positioning base station sends the positioning data to the MESH gateway, and the positioning data is used for the positioning server to determine the position information of the target object.

In some possible implementations, a bluetooth locator is disposed on the target object, the method further comprising:

and the at least one Bluetooth positioning base station receives a positioning signal sent by the Bluetooth positioner, and the positioning data comprises positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal.

In some possible implementations, the method further includes: and the at least one Bluetooth positioning base station performs local area time synchronization with the MESH gateway.

In a third aspect, a positioning method is provided, where the method is applied to a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, where the hybrid wireless system includes multiple bluetooth positioning base stations, a MESH gateway, and a positioning server, the multiple bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the method includes: the positioning server receives positioning data sent by the MESH gateway through the cellular mobile communication network, wherein the positioning data is the positioning data of a target object in the range of at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station; and the positioning server determines the position information of the target object according to the positioning data.

In some possible implementations, the determining, by the positioning server, the position information of the target object according to the positioning data includes: the positioning server determines the relative position between the target object and the at least one Bluetooth positioning base station according to the positioning signal data; and the positioning server determines the position information of the target object according to the relative position and the position information of the at least one Bluetooth positioning base station.

In some possible implementations, the positioning data further includes an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

the method further comprises the following steps: the positioning server stores the corresponding relation between the object identification and the object, and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

In some possible implementations, the method further includes: the positioning server determines the target object according to the identification of the target object and the corresponding relation between the object identification and the object; and/or the positioning server determines the at least one Bluetooth positioning base station according to the identification of the at least one Bluetooth positioning base station and the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

In some possible implementations, the positioning data further includes a world standard time corresponding to a start time of the local time; the method further comprises the following steps: and the positioning server determines a world standard time stamp corresponding to the position information of the target object according to the world standard time corresponding to the starting time of the time stamp and the local time.

In some possible implementations, the method further includes: and the positioning server sends the position information of the target object to the electronic equipment.

In a fourth aspect, a MESH gateway is provided, where the MESH gateway is located in a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, the hybrid wireless system includes a plurality of bluetooth positioning base stations, the MESH gateway, and a positioning server, the plurality of bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the MESH gateway includes a functional module configured to execute the method according to the first aspect or any possible implementation manner of the first aspect.

In a fifth aspect, a bluetooth positioning base station is provided, where the bluetooth positioning base station is located in a hybrid wireless system of an MESH network of a bluetooth low energy BLE and a cellular mobile communication network, the hybrid wireless system includes multiple bluetooth positioning base stations, an MESH gateway, and a positioning server, the multiple bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, the bluetooth positioning base station is at least one of the multiple bluetooth positioning base stations, and the bluetooth positioning base station includes a functional module configured to perform the method in any possible implementation manner of the second aspect or the second aspect.

A sixth aspect provides a location server, where the location server is located in a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, the hybrid wireless system includes a plurality of bluetooth location base stations, a MESH gateway, and the location server, the plurality of bluetooth location base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the location server through the cellular mobile communication network, and the location server includes a functional module configured to execute the method in any possible implementation manner of the third aspect or the third aspect.

In a seventh aspect, a chip is provided, where the chip includes a processor and a memory, where the memory is used to store a computer program, and the processor is used to call and execute the computer program stored in the memory to perform the first aspect or the method in any possible implementation manner of the first aspect.

In an eighth aspect, a chip is provided, where the chip includes a processor and a memory, where the memory is used to store a computer program, and the processor is used to call and execute the computer program stored in the memory to execute the method in the second aspect or any possible implementation manner of the second aspect.

In a ninth aspect, a chip is provided, the chip comprising a processor and a memory, the memory being configured to store a computer program, and the processor being configured to call and execute the computer program stored in the memory to perform the method of the third aspect or any possible implementation manner of the third aspect.

In a tenth aspect, a computer-readable storage medium for storing a computer program is provided. Wherein the computer program, when executed by a processor, causes the processor to perform the first aspect or the method of any possible implementation of the first aspect.

In an eleventh aspect, a computer-readable storage medium for storing a computer program is provided. Wherein the computer program, when executed by a processor, causes the processor to perform the second aspect or the method of any possible implementation of the second aspect.

In a twelfth aspect, a computer-readable storage medium for storing a computer program is provided. Wherein the computer program, when executed by a processor, causes the processor to perform the third aspect or the method of any possible implementation of the third aspect.

In a thirteenth aspect, there is provided a computer program product comprising computer program instructions to cause a computer to perform the method of the first aspect or any possible implementation manner of the first aspect.

In a fourteenth aspect, there is provided a computer program product comprising computer program instructions for causing a computer to perform the method of the second aspect or any possible implementation manner of the second aspect.

In a fifteenth aspect, there is provided a computer program product comprising computer program instructions for causing a computer to perform the method of the third aspect or any possible implementation manner of the third aspect.

In a sixteenth aspect, there is provided a positioning system, where the positioning system is a hybrid wireless system of a MESH network of bluetooth low energy BLE and a cellular mobile communication network, and the positioning system includes: the MESH gateway of the fourth aspect, a plurality of bluetooth positioning base stations and the positioning server of the sixth aspect, where the plurality of bluetooth positioning base stations includes at least one bluetooth positioning base station of the fifth aspect;

the plurality of Bluetooth positioning base stations are communicated with the MESH gateway through the MESH network, and the MESH gateway is communicated with the positioning server through the cellular mobile communication network.

According to the technical scheme, the target object is positioned in a mode that a BLE MESH network is combined with a cellular mobile communication network, the Bluetooth positioning base station sends positioning data to an MESH gateway through the MESH network, and then the MESH gateway sends the positioning data to the positioning server through the cellular mobile communication network. Because a positioning system can be configured with at least one MESH gateway, one BLE module can be combined with one cellular mobile communication module to form the MESH gateway, so that the cellular mobile communication module does not need to be installed for each target object, thereby effectively reducing the cost and being suitable for large-scale deployment. In addition, each Bluetooth positioning base station can cover the range with the radius of hundreds of meters to 2 kilometers, so that a small number of Bluetooth positioning base stations can cover the range of several square kilometers, and the construction cost and the maintenance cost are reduced.

Further, the bluetooth positioning base station can be powered by batteries, solar energy and wind power, and thus can work continuously for years. In addition, the highest positioning accuracy of the MESH network can reach centimeter level, so that high-accuracy positioning can be realized.

Drawings

Fig. 1 is a schematic diagram of a MESH network to which the embodiment of the present application is applied.

Fig. 2 is a flowchart of an interaction method of positioning according to an embodiment of the present application.

FIG. 3 is a schematic diagram of a positioning system of an embodiment of the present application.

Fig. 4 is a schematic block diagram of a MESH gateway according to an embodiment of the present application.

Fig. 5 is a schematic block diagram of a bluetooth positioning base station according to an embodiment of the present application.

Fig. 6 is a schematic block diagram of a positioning server of an embodiment of the present application.

Fig. 7 is a schematic block diagram of a chip of an embodiment of the present application.

Fig. 8 is a schematic block diagram of a positioning system of an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings.

The current positioning methods mainly include the following methods:

(1) positioning System based on satellite Positioning System, i.e. Global Positioning System (GPS)

The GPS receiver consumes a large amount of power, and if a certain animal needs to be tracked for a long time, a battery with a large volume needs to be allocated for the animal, so that the GPS positioning method is not suitable for small animals. Further, if the positioning device needs to automatically send animal movement trajectory data, a cellular mobile communication module needs to be added to the positioning device, so that the power consumption and the volume of the positioning device are further increased, the cost is high, and the positioning device is not suitable for large-scale deployment.

(2) Method for positioning collar by radio

The positioning mode is the most traditional positioning mode, has simple structure, high reliability and low price of positioning equipment, but needs manual radio triangulation. The positioning mode has the advantages of more manpower requirements and great working strength, so that the comprehensive cost is higher, and more animals cannot be tracked.

(3) Positioning mode based on starlight positioning system

Although the star light positioner is small in size and light in weight, the star light positioner is low in positioning accuracy, so that the star light positioner is generally suitable for tracking thousands to tens of thousands of kilometers of moving distance, and is not suitable for relatively small-scale ranges such as farms, wild zoos and animal open-air bases.

(4) Positioning mode based on cellular mobile communication network

The positioning method has low positioning precision, and is particularly suitable for field areas with complex terrain and low base station density. In addition, the positioning device of the positioning mode comprises a cellular mobile communication module, and the cellular mobile communication module has high power consumption and high cost, and is not suitable for large-scale deployment.

In view of this, an embodiment of the present application provides a positioning method, and the positioning method in the embodiment of the present application adopts a mode of jointly networking a MESH network of Low power consumption Bluetooth (BLE) and a cellular mobile communication network, so as to achieve the purpose of positioning an object in a certain area at Low cost and high accuracy for a long time.

In order to more clearly understand the scheme of the embodiment of the present application, first, a simple description of the MESH network is given below.

Fig. 1 is a schematic diagram of one possible MESH network. The MESH network includes multiple devices, each of which may be referred to as a node. Each node can perform data transmission. The data packet may be relayed between nodes so that the data packet is transmitted to a more distant location. In practical applications, these nodes may be distributed throughout a manufacturing facility, office building, shopping mall, business campus, home, and other environments. Any number of nodes may be included in the MESH network, and only node a through node G are illustrated in fig. 1. In the MESH network, data packets are transmitted in a broadcast (advertising) manner. After each node receives a data packet sent by another node, unconditionally forwarding the data packet is carried out, so that the data packet is forwarded to other nodes nearby.

For example, a packet from node a to node B may go through at least one relay. After receiving the data packet sent by the node a, the node C may forward the data packet to the node D and the node G; after receiving the data packet, the node D may forward the data packet to the node G and the node B, respectively; after receiving the data packet, the node G may forward the data packet to the node B, the node E, and the node F. Because the data packet transmission is performed based on the advertising mode, and the data transmission is unreliable, when the node a sends the data packet to the node B, the node a can repeatedly send the data packet for many times, so as to ensure the successful reception of the data packet.

Fig. 2 is a flowchart of a method of positioning according to an embodiment of the present application. The method 200 shown in fig. 2 can be applied to a hybrid wireless system of a MESH network of BLE and a cellular mobile communication network. The hybrid wireless system may include a plurality of bluetooth positioning base stations, a MESH gateway, and a positioning server, wherein the plurality of bluetooth positioning base stations may communicate with the MESH gateway through a MESH network, and the MESH gateway may communicate with the positioning server through a cellular mobile communication network.

Fig. 3 is a schematic diagram of one possible hybrid wireless system. It should be understood that, in the embodiments of the present application, the hybrid wireless system may also be referred to as a positioning system, and the embodiments of the present application are not limited to this specifically. The positioning system shown in fig. 3 includes 3 bluetooth positioning base stations, which are a first bluetooth positioning base station, a second bluetooth positioning base station, and a third bluetooth positioning base station, and these three bluetooth positioning base stations form an MESH network. In addition, the positioning system shown in fig. 3 further includes a MESH gateway and a positioning server. The MESH gateway can be composed of a BLE module and a cellular mobile communication module.

Any one of the first bluetooth positioning base station, the second bluetooth positioning base station and the third bluetooth positioning base station can send data to the MESH gateway through the MESH network. For example, because the first bluetooth positioning base station is far from the MESH gateway or a barrier is arranged between the first bluetooth positioning base station and the MESH gateway, the first bluetooth positioning base station cannot be directly connected to the MESH gateway, the first bluetooth base station can send data to the second bluetooth positioning base station, and then the second bluetooth positioning base station forwards the data to the MESH gateway.

As shown in fig. 2, the method 200 may include at least some of the following. It should be noted that, the at least one bluetooth positioning base station includes a first bluetooth positioning base station, and the embodiment of the present application is only described with the first bluetooth positioning base station as an example, but the present application is not limited thereto, and other bluetooth positioning base stations except for the first bluetooth positioning base station in the at least one bluetooth positioning base station may perform the same behavior as the first bluetooth positioning base station.

At 210, a first bluetooth positioning base station obtains a positioning instruction.

As an example, the positioning instruction may be preset on the first bluetooth positioning base station. For example, the first bluetooth positioning base station acquiring the positioning instruction at 12 o' clock of each day may be preset on the first bluetooth positioning base station. For another example, it may be preset that the positioning instruction is obtained every 10min on the first bluetooth positioning base station.

As another example, the location server may send a location instruction to the MESH gateway through the cellular mobile communication network, and after receiving the location instruction, the MESH gateway may send the location instruction to the bluetooth location base station through the MESH network. Alternatively, the bluetooth positioning base station may only include the first bluetooth positioning base station, that is, the MESH gateway may only send the positioning instruction to the first bluetooth positioning base station. Alternatively, the bluetooth positioning base station herein may include all bluetooth positioning base stations in the positioning system, such as the first bluetooth positioning base station, the second bluetooth positioning base station and the third bluetooth positioning base station in fig. 3.

In 220, the first bluetooth positioning base station obtains positioning data of the target object within the range of the first bluetooth positioning base station relative to the first bluetooth positioning base station based on the positioning command.

Wherein the target object may be, but is not limited to, an animal, a robot, a shopping cart in a mall or supermarket, a shared cart, etc. Referring to fig. 3, the target objects within range of the first bluetooth positioning base station are an animal 2 and an animal 4.

The target object may be provided with a locator, and the positioning data may include positioning signal data determined by the first bluetooth positioning base station according to a positioning signal sent by the locator provided on the target object.

Alternatively, the positioner may be a bluetooth positioner, such as a miniature BLE positioner. The volume of the miniature BLE locator can be as small as a button, and the miniature BLE locator can work for months to years by depending on a battery, so that the miniature BLE locator is not only suitable for large objects such as large mammals, but also suitable for small objects such as small poultry. In addition, compared with satellite positioning, the BLE positioner is high in positioning speed and short in time, so that power consumption can be saved.

Optionally, the positioning data may be a Received Signal Strength Indication (RSSI) and/or a Signal receiving angle between the target object and the first bluetooth positioning base station. Specifically, a BLE locator arranged on the target object transmits a positioning signal, and after the first bluetooth positioning base station receives the positioning signal transmitted by the BLE locator, the RSSI and/or the signal receiving angle between the target object and the first bluetooth positioning base station can be obtained.

In 230, the first bluetooth positioning base station sends positioning data to the MESH gateway, where the positioning data is used for the positioning server to determine the position information of the target object. For convenience of subsequent description, the positioning data sent by the first bluetooth positioning base station to the MESH gateway is referred to as first positioning data.

The first positioning data sent by the first bluetooth positioning base station to the MESH gateway may be calculated positioning data, or may be positioning data that is not calculated (for convenience of description, referred to as original positioning data).

That is to say, after the first bluetooth positioning base station acquires the original positioning data, in an implementation manner, the original positioning data may be locally calculated, and after the calculation is completed, the first bluetooth positioning base station sends the calculated positioning data to the MESH gateway.

In another implementation, the first bluetooth positioning base station may not locally calculate the raw positioning data, that is, does not process the raw positioning data, but directly sends the raw positioning data to the MESH gateway. At this time, the original positioning data is the same as the first positioning data. In this implementation, the bluetooth positioning base station does not calculate the raw positioning data, so that the calculation and storage burden of the bluetooth positioning base station can be reduced, and the power consumption of the bluetooth positioning base station can be further reduced.

One possible transmission method for the first bluetooth positioning base station to transmit the first positioning data to the MESH gateway may include: and after acquiring the first positioning data, the first Bluetooth positioning base station immediately sends the first positioning data to the MESH gateway.

Another possible transmission manner for the first bluetooth positioning base station to transmit the first positioning data to the MESH gateway may include: the first Bluetooth positioning base station sends first positioning data in preset time. For example, the preset time may be N ms when the first bluetooth positioning base station acquires the first positioning data. If N is 5, that is, after the first bluetooth base station acquires the first positioning data, the first positioning data may be sent to the MESH gateway after 5 ms. For another example, the preset time may be the whole time of each day, that is, 6 o 'clock, 7 o' clock, 8 o 'clock, etc. if the first bluetooth base station acquires the first positioning data at 13:20, the first bluetooth base station may send the first positioning data to the MESH gateway at 14 o' clock.

Further, the first positioning data may also comprise an identification of the target object and/or an identification of the first bluetooth positioning base station. In this example, the positioning server stores therein a correspondence between an object identification and an object, and/or the positioning server stores therein a correspondence between an identification of a bluetooth positioning base station and a bluetooth positioning base station.

Alternatively, the identification of the target object may be an index or number of the target object. The number of the target object may be the number of the target object within the positioning system.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.

Further, the first bluetooth positioning base station may further indicate a timestamp for sending the first positioning data to the MESH gateway.

The timestamp may be a timestamp using a world standard time. Alternatively, the timestamp may be a timestamp based on the local time of the MESH network (referred to as a local timestamp for descriptive convenience). The data length of the local time of the MESH network is smaller than that of the world standard time. For example, the world standard time is year, month, day, hour, minute and second, and the local time of the MESH network may be hour, minute and second.

The data length of the local time of the MESH network is smaller than that of the world standard time, so that the data volume can be reduced, and the power consumption can be reduced.

If the timestamp is a local timestamp, in this embodiment of the present application, the MESH gateway further needs to determine the local time, and then the first bluetooth positioning base station needs to complete local clock synchronization with the MESH gateway.

After the MESH gateway receives the local timestamp, the MESH gateway can not process the local timestamp, or the MESH gateway can calculate the world standard timestamp of the first Bluetooth positioning base station sending positioning data according to the corresponding relation between the local time and the world standard time.

In 240, the MESH gateway transmits the positioning data to the positioning server through the cellular mobile communication network. For convenience of description, the positioning data sent by the MESH gateway to the positioning server is referred to as second positioning data.

It should be understood that, in the embodiments of the present application, "first" and "second" are merely used to distinguish different objects, and do not limit the scope of the embodiments of the present application.

The second positioning data may include RSSI and/or signal reception angle between the target object and the first bluetooth positioning base station, and the second positioning data may further include an identifier of the target object and/or an identifier of the first bluetooth positioning base station.

Further, the second positioning data may also include a timestamp for the first bluetooth positioning base station to transmit the first positioning data.

If the timestamp sent by the MESH gateway to the location server is a local timestamp, in this case, optionally, the second location data may further include a corresponding relationship between the local time and the universal time. For example, the second positioning data may further include a world standard time corresponding to the start time of the local time. Or, the second positioning data may not include a corresponding relationship between the local area time and the standard world time, and at this time, the corresponding relationship between the local area time and the standard world time, which is sent to the positioning server by the MESH gateway at a certain previous time, is stored in the positioning server.

That is to say, the second positioning data sent by the MESH gateway to the positioning server each time does not necessarily include the corresponding relationship between the local time and the universal time, and the MESH gateway may send the corresponding relationship between the local time and the universal time to the positioning server separately at any previous time, and indicate that the second positioning data received by the positioning server later all use the corresponding relationship as a reference. In this way, when the MESH gateway sends the second positioning data to the positioning server later, the second positioning data may not include the corresponding relationship between the local time and the universal time. When the MESH gateway needs to update the local time, the MESH gateway may separately send the corresponding relationship between the updated local time and the standard world time to the positioning server, or the second positioning data may include the corresponding relationship between the updated local time and the standard world time.

If the MESH gateway fails to send the second positioning data to the positioning server through the cellular mobile communication network, the MESH gateway can store the second positioning data and resend the second positioning data to the positioning server within the first time.

Alternatively, the first time may be preset on the MESH gateway. For example, the first time may be preset on the MESH gateway to be 10ms after the MESH gateway fails to transmit the second positioning data.

Alternatively, the MESH gateway may correspond to a timer. And if the MESH gateway does not successfully send the second positioning data, the MESH gateway cannot resend the second positioning data to the locator before the timer is overtime.

At 250, after the positioning server receives the second positioning data, the positioning server determines the position information of the target object according to the second positioning data.

Specifically, the positioning server may determine the relative position between the target object and the first bluetooth positioning base station according to the positioning signal data, and then, the positioning server may determine the position information of the target object according to the relative position and the position information of the first bluetooth positioning base station.

Alternatively, the location server may store the location information of the first bluetooth location base station in advance.

The position information of the target object determined by the positioning server may include coordinates of the target object in a geographic coordinate system, and the position information of the first bluetooth positioning base station may include coordinates of the first bluetooth positioning base station in the geographic coordinate system. Alternatively, the location information of the target object determined by the positioning server may include which of a plurality of areas the target object is in.

Further, if the second positioning data includes the identifier of the target object and/or the identifier of the first bluetooth positioning base station, after receiving the second positioning data, the positioning server may determine the target object according to the identifier of the target object and according to the corresponding relationship between the object identifier and the object; and/or the positioning server can determine the first bluetooth positioning base station according to the identifier of the first bluetooth positioning base station and the corresponding relation between the identifier of the bluetooth positioning base station and the bluetooth positioning base station.

After the positioning server determines the first bluetooth positioning base station, the position information of the first bluetooth positioning base station can be found in the stored position information of the plurality of bluetooth positioning base stations, so that the position information of the target object can be determined according to the relative position between the target object and the first bluetooth positioning base station and according to the position information of the first bluetooth positioning base station.

Further, if the timestamp included in the second positioning data is a local timestamp, the positioning server may determine a world standard timestamp corresponding to the position information of the target object according to a corresponding relationship between the local timestamp and the world standard time.

After the positioning server determines the position information of the target object in a period of time and the world standard timestamp corresponding to the position information, the activity track of the target object can be determined, so that the target object can be better tracked.

It should be noted that, if a plurality of bluetooth positioning base stations (i.e., at least one bluetooth positioning base station mentioned above) around the target object can all receive the positioning signal sent by the target object, and the plurality of bluetooth positioning base stations determine the first positioning data of the target object relative to the bluetooth positioning base stations according to the received positioning signal, and send the first positioning data to the positioning server through the MESH gateway, the positioning server can determine the position information of the target object according to the first positioning data with the same timestamp from the plurality of bluetooth positioning base stations.

Referring again to fig. 3, the first bluetooth positioning base station, the second bluetooth positioning base station, and the third bluetooth positioning base station may all receive the positioning signal from the animal 4, and the positioning server may determine the position information of the animal 4 according to the first positioning data from the first bluetooth positioning base station, the second bluetooth positioning base station, and the third bluetooth positioning base station.

It should be understood that the embodiment of the present application is described by taking the example that the positioning server determines the position information of the target object according to the first positioning data sent by the first bluetooth positioning base station as an example, but the scope of the embodiment of the present application is not limited thereto.

It should also be understood that the above-mentioned determination of the position information of the target object by the positioning server according to the first positioning data can be understood as: the first Bluetooth positioning base station sends first positioning data to the MESH gateway, and after the MESH gateway receives the first positioning data, the MESH gateway can perform certain processing on the first positioning data to obtain second positioning data; alternatively, the first positioning data may not be processed, and in this case, the first positioning data may be the same as the second positioning data. And then, the MESH gateway sends second positioning data to the positioning server through the cellular mobile communication network, and after receiving the second positioning data, the positioning server determines the position information of the target object according to the second positioning data.

If only one bluetooth positioning base station receives the positioning signal of the target object, the positioning server can roughly determine the position information of the target object. And the positioning server positions the target object according to the first positioning data from the plurality of Bluetooth positioning base stations. Thus, the accurate positioning of the target object can be realized.

It should be understood that the above-mentioned first positioning data with the same time stamp from several bluetooth positioning base stations does not mean that the time stamps of the first positioning data from several bluetooth positioning base stations are absolutely identical, and the time stamps may allow for a range of deviations.

After determining the position information of the target object, the positioning server may send the position information of the target object to the electronic device, so that the user may access the position information of the target object from the electronic device.

By way of example and not limitation, the electronic device in the embodiments of the present application may be a portable or mobile computing device such as a terminal device, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a game device, an in-vehicle electronic device, or a wearable smart device, and other electronic devices such as an electronic database, an automobile, and an Automated Teller Machine (ATM). This wearable smart machine includes that the function is complete, the size is big, can not rely on the smart mobile phone to realize complete or partial function, for example: smart watches or smart glasses and the like, and only focus on a certain type of application function, and need to be used in cooperation with other devices such as smart phones, such as various smart bracelets for physical sign monitoring, smart jewelry and other devices.

The following describes the technical solution of the embodiment of the present application in detail with reference to specific embodiments, taking the target object as the animal 2 as an example.

Step 1: networking

a) And the user arranges an MESH gateway and three Bluetooth positioning base stations according to the tracking area to be covered. Wherein, these three bluetooth location basic stations do respectively: the first Bluetooth positioning base station, the second Bluetooth positioning base station and the third Bluetooth positioning base station can form an MESH network.

Optionally, the user arranges a MESH gateway and three bluetooth positioning base stations according to a tracking area to be covered, which may include: the user arranges the MESH gateway and the three Bluetooth positioning base stations according to at least one factor of the size, the terrain and the environment of a tracking area to be covered.

b) The user tests whether the three Bluetooth positioning base stations can send data to the MESH gateway. If the data of the three Bluetooth positioning base stations can be sent to the MESH gateway, fixing the positions of the three Bluetooth positioning base stations and the MESH gateway; if the three Bluetooth positioning base stations can not send the data to the MESH gateway, the positions of the Bluetooth positioning base stations and/or the positions of the MESH gateway are rearranged until the three Bluetooth positioning base stations can send the data to the MESH gateway.

c) After the user fixes the positions of the three bluetooth positioning base stations respectively, the coordinates of the three bluetooth positioning base stations in the geographic coordinate system can be measured respectively, and the respective coordinate values are stored in the positioning server.

d) After the MESH network is established, each Bluetooth positioning base station and the MESH gateway complete local area time synchronization.

And 2, step: positioning

And after the first Bluetooth positioning base station receives the positioning instruction, positioning data is acquired. Wherein the positioning data comprises RSSI and signal reception angle between the animal 2 and the first bluetooth positioning base station. The first Bluetooth positioning base station does not locally calculate the RSSI and the signal receiving angle, but directly packages the RSSI, the signal receiving angle, the number of the animal 2, the number of the first Bluetooth positioning base station and the local timestamp to obtain first positioning data, and sends the first positioning data to the MESH gateway.

And 3, step 3: positioning data transmission and processing

After receiving the first positioning data, the MESH gateway can package the world standard time corresponding to the starting time of the local time to obtain second positioning data, and send the second positioning data to a positioning server through a cellular mobile communication network.

If the MESH gateway does not successfully send the second positioning data to the positioning server, the MESH gateway can store the second positioning data and resend the second positioning data to the positioning server within the first time.

The action after the positioning server receives the second positioning data may include:

a) and calculating relative coordinates of the animal 2 and the first Bluetooth positioning base station according to the RSSI and the signal receiving angle.

b) And determining the coordinates of the animal 2 in the geographic coordinate system based on the calculated relative coordinates of the animal 2 and the first Bluetooth positioning base station and in combination with the coordinates of the first Bluetooth positioning base station in the geographic coordinate system.

c) And determining the world standard time stamp of the positioning data sent by the first Bluetooth positioning base station according to the local area time stamp in the second positioning data and the world standard time corresponding to the starting time of the local area time.

Then, the positioning server transmits the position information of the animal 2 and the world standard time stamp corresponding to the position information to the electronic device.

The embodiment of the application adopts the combination mode of the MESH network of BLE and the cellular mobile communication network to position the target object, the Bluetooth positioning base station sends the positioning data to the MESH gateway through the MESH network, and the MESH gateway sends the positioning data to the positioning server through the cellular mobile communication network. Because a positioning system can be configured with at least one MESH gateway, one BLE module can be combined with one cellular mobile communication module to form the MESH gateway, so that the cellular mobile communication module does not need to be installed for each target object, thereby effectively reducing the cost and being suitable for large-scale deployment. In addition, each Bluetooth positioning base station can cover the range with the radius of hundreds of meters to 2 kilometers, so that a small number of Bluetooth positioning base stations can cover the range of several square kilometers, and the construction cost and the maintenance cost are reduced.

Further, the bluetooth positioning base station can be powered by batteries, solar energy and wind power, and thus can work continuously for years. In addition, the positioning accuracy of the positioning mode based on the GPS is 10 meters at most, the positioning accuracy can be reduced to 100 meters in outdoor terrains with obstacles, and the positioning accuracy of the MESH network can reach centimeter level at most, so that high-accuracy positioning can be realized.

In the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiment of the present application.

Moreover, in the present application, the technical features of the embodiments and/or the technical features of the embodiments may be arbitrarily combined with each other, and the technical solutions obtained after the combination also fall within the protection scope of the present application.

The method for positioning according to the embodiment of the present application is described above in detail, and the apparatus according to the embodiment of the present application will be described below with reference to fig. 4 to 6, and the technical features described in the method embodiment are applicable to the following apparatus embodiments.

Fig. 4 is a schematic block diagram of a MESH gateway 400 according to an embodiment of the present application. The MESH gateway is located in a hybrid wireless system of a BLE MESH network and a cellular mobile communication network, the hybrid wireless system comprises a plurality of Bluetooth positioning base stations, the MESH gateway 300 and a positioning server, the plurality of Bluetooth positioning base stations are communicated with the MESH gateway 300 through the MESH network, and the MESH gateway 300 is communicated with the positioning server through the cellular mobile communication network. As shown in fig. 4, the MESH gateway 400 includes:

a BLE communication unit 410, configured to receive positioning data sent by at least one bluetooth positioning base station, where the positioning data is positioning data of a target object within a range of the at least one bluetooth positioning base station relative to the at least one bluetooth positioning base station, and the plurality of bluetooth positioning base stations include the at least one bluetooth positioning base station.

A cellular mobile communication unit 420, configured to send the positioning data to the positioning server through the cellular mobile communication network, where the positioning data is used by the positioning server to determine the position information of the target object.

Optionally, in this embodiment of the present application, a bluetooth locator is disposed on the target object, and the positioning data includes positioning signal data determined by the at least one bluetooth positioning base station according to a positioning signal sent by the bluetooth locator.

Optionally, in this embodiment of the present application, the positioning signal data includes a received signal strength indication RSSI and/or a signal reception angle between the target object and the at least one bluetooth positioning base station.

Optionally, in this embodiment of the present application, the positioning data further includes an identifier of the target object and/or an identifier of the at least one bluetooth positioning base station; the positioning server stores the corresponding relation between the object identification and the object, and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

Optionally, in this embodiment of the present application, the positioning data further includes a timestamp when the at least one bluetooth positioning base station transmits the positioning data.

Optionally, in this embodiment of the present application, the timestamp is a timestamp based on a local time of the MESH network, and a data length of the local time is smaller than a data length of a world standard time.

Optionally, in this embodiment of the present application, the positioning data sent by the cellular mobile communication unit 420 further includes a universal time corresponding to the starting time of the local area time.

Optionally, in this embodiment of the present application, the MESH gateway 400 further includes: a processing unit 430, configured to determine the local time.

Optionally, in this embodiment of the present application, the MESH gateway 400 further includes: a processing unit 430, configured to, if the positioning data is not successfully sent to the positioning server through the cellular mobile communication network, store the positioning data;

the cellular mobile communication unit 420 is further configured to: resending the positioning data to the positioning server within a first time.

It should be understood that the MESH gateway 400 may correspond to the MESH gateway in the method 200, and corresponding operations of the MESH gateway in the method 200 may be implemented, which are not described herein again for brevity.

Fig. 5 shows a schematic block diagram of a bluetooth positioning base station 500 of an embodiment of the present application. Bluetooth location base station 500 is arranged in BLE's MESH network and the mixed wireless system of honeycomb mobile communication network, and this mixed wireless system includes a plurality of bluetooth location base stations, MESH gateway, positioning server, and a plurality of bluetooth location base stations pass through MESH network and MESH gateway communication, and the MESH gateway passes through honeycomb mobile communication network and positioning server and communicates, and this bluetooth location base station 500 is at least one bluetooth location base station in a plurality of bluetooth location base stations. As shown in fig. 5, the bluetooth positioning base station 500 includes:

a processing unit 510 for obtaining a positioning instruction.

The processing unit 510 is further configured to, based on the positioning instruction, obtain positioning data of a target object within a range of the at least one bluetooth positioning base station relative to the at least one bluetooth positioning base station.

A BLE communication unit 520, configured to send the positioning data to the MESH gateway, where the positioning data is used by the positioning server to determine the location information of the target object.

Optionally, in this embodiment of the present application, a bluetooth locator is disposed on the target object, and the communication unit 520 is further configured to: and receiving a positioning signal sent by the Bluetooth positioning server, wherein the positioning data comprises positioning signal data determined by the processing unit according to the positioning signal.

Optionally, in this embodiment of the present application, the positioning data further includes a timestamp for the communication unit 520 to transmit the positioning data.

Optionally, in this embodiment of the present application, the processing unit 510 is further configured to: and carrying out local area time synchronization with the MESH gateway.

It should be understood that the bluetooth positioning base station 500 may correspond to the bluetooth positioning base station in the method 200, and corresponding operations of the bluetooth positioning base station in the method 200 may be implemented, which are not described herein again for brevity.

Fig. 6 shows a schematic block diagram of a positioning server 600 of an embodiment of the present application. The positioning server 600 is located in a hybrid wireless system of a BLE MESH network and a cellular mobile communication network, the hybrid wireless system includes a plurality of bluetooth positioning base stations, a MESH gateway, and the positioning server 600, the bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server 600 through the cellular mobile communication network. As shown in fig. 6, the location server 600 includes:

a communication unit 610, configured to receive, through the cellular mobile communication network, location data sent by the MESH gateway, where the location data is location data of a target object within a range of at least one bluetooth location base station relative to the at least one bluetooth location base station, and the plurality of bluetooth location base stations include the at least one bluetooth location base station.

The processing unit 620 is configured to determine the position information of the target object according to the positioning data.

Optionally, in this embodiment of the present application, the processing unit 620 is specifically configured to: determining the relative position between the target object and the at least one Bluetooth positioning base station according to the positioning signal data; and determining the position information of the target object according to the relative position and the position information of the at least one Bluetooth positioning base station.

Optionally, in this embodiment of the present application, the positioning data further includes an identifier of the target object and/or an identifier of the at least one bluetooth positioning base station;

the processing unit 620 is further configured to: and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

Optionally, in this embodiment of the present application, the processing unit 620 is further configured to: determining the target object according to the identification of the target object and the corresponding relation between the object identification and the object; and/or determining the at least one Bluetooth positioning base station according to the identifier of the at least one Bluetooth positioning base station and the corresponding relation between the identifier of the Bluetooth positioning base station and the Bluetooth positioning base station.

Optionally, in this embodiment of the application, the positioning data further includes a world standard time corresponding to a start time of the local time;

the processing unit 620 is further configured to: and determining a world standard time stamp corresponding to the position information of the target object according to the world standard time corresponding to the time stamp and the starting time of the local time.

Optionally, in this embodiment of the present application, the communication unit 610 is further configured to: and sending the position information of the target object to the electronic equipment.

It should be understood that the positioning server 600 may correspond to the positioning server in the method 200, and corresponding operations of the positioning server in the method 200 may be implemented, which are not described herein again for brevity.

Fig. 7 is a schematic structural diagram of a chip 700 according to an embodiment of the present application. The chip 700 shown in fig. 7 includes a processor 710, a memory 720, and a transceiver 730.

From the memory 720, the processor 710 can call and run a computer program to implement the method in the embodiment of the present application. Processor 710 may control communication between transceiver 730 and other nodes, and in particular may transmit data to other nodes or receive information or data transmitted by other nodes.

Transceiver 730 includes an input interface 731 and an output interface 732. Processor 710 may control communication between input interface 731 and output interface 732 and other devices or chips to obtain information or data for transmission by, or output information or data to, the other devices or chips.

Optionally, the chip 700 may specifically be a MESH gateway in the embodiment of the present application, and the chip 700 may implement a corresponding flow implemented by the MESH gateway in each method in the embodiment of the present application, which is not described herein again for brevity.

Optionally, the chip 700 may specifically be the bluetooth positioning base station in this embodiment, and the chip 700 may implement a corresponding process implemented by the bluetooth positioning base station in each method in this embodiment, which is not described herein again for brevity.

The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The memory described above can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

Fig. 8 is a schematic block diagram of a positioning system 800 according to an embodiment of the present application. As shown in fig. 8, the positioning system 800 includes a plurality of bluetooth positioning base stations 810, a MESH gateway 820, and a positioning server 830.

The positioning system 800 is a hybrid wireless system of a MESH network of BLE and a cellular mobile communication network. The bluetooth positioning base stations 810 include at least one bluetooth positioning base station mentioned in the above method, the at least one bluetooth positioning base station may be configured to implement a corresponding function implemented by the first bluetooth positioning base station in the above method, the MESH gateway 820 may be configured to implement a corresponding function implemented by the MESH gateway in the above method, and the positioning server 830 may be configured to implement a corresponding function implemented by the positioning server. For brevity, further description is omitted herein.

The embodiment of the application also provides a computer readable storage medium for storing the computer program. The computer readable storage medium may be applied to the MESH gateway, the bluetooth positioning base station, or the positioning server in the embodiment of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the MESH gateway, the bluetooth positioning base station, or the positioning server in the methods in the embodiment of the present application, which are not described again for brevity.

Embodiments of the present application also provide a computer program product, including computer program instructions. The computer program product may be applied to the MESH gateway, the bluetooth positioning base station, or the positioning server in the embodiment of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the MESH gateway, the bluetooth positioning base station, or the positioning server in the methods in the embodiments of the present application, which are not described herein again for brevity.

In the present embodiment, "B corresponding to (corresponding to) a" means that B is associated with a, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The specific examples in the embodiments of the present application are only for helping those skilled in the art to better understand the embodiments of the present application, and do not limit the scope of the embodiments of the present application, and those skilled in the art may make various modifications and variations on the embodiments described above, and those modifications and variations fall within the scope of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application 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 application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method is applied to a hybrid wireless system of an MESH network of a low-power Bluetooth BLE and a cellular mobile communication network, the hybrid wireless system comprises a plurality of Bluetooth positioning base stations, an MESH gateway and a positioning server, the Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, the method comprises the following steps:

the MESH gateway receives positioning data sent by at least one Bluetooth positioning base station, wherein the positioning data is the positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station;

the MESH gateway sends the positioning data to the positioning server through the cellular mobile communication network, wherein the positioning data is used for the positioning server to determine the position information of the target object;

the positioning data comprises a timestamp of the positioning data sent by the at least one Bluetooth positioning base station, the timestamp is based on the local area time of the MESH network, and the data length of the local area time is smaller than that of the world standard time.

2. The method of claim 1, wherein a Bluetooth locator is disposed on the target object, and wherein the positioning data comprises positioning signal data determined by the at least one Bluetooth positioning base station according to a positioning signal transmitted by the Bluetooth locator.

3. The method of claim 2, wherein the positioning signal data comprises a Received Signal Strength Indication (RSSI) and/or a signal reception angle between the target object and the at least one Bluetooth positioning base station.

4. A method according to claim 2 or 3, characterized in that the positioning data further comprises an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

the positioning server stores the corresponding relation between the object identification and the object, and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

5. The method of claim 1, wherein the positioning data sent by the MESH gateway to the positioning server further comprises a universal time corresponding to a starting time of the local time.

6. The method of claim 1, further comprising:

the MESH gateway determines the local area time.

7. The method according to any one of claims 1 to 3, further comprising:

if the MESH gateway passes through the cellular mobile communication network, the MESH gateway does not successfully send the positioning data to the positioning server, and the MESH gateway stores the positioning data;

and the MESH gateway resends the positioning data to the positioning server in the first time.

8. A positioning method is applied to a hybrid wireless system of an MESH network of a low-power Bluetooth BLE and a cellular mobile communication network, the hybrid wireless system comprises a plurality of Bluetooth positioning base stations, an MESH gateway and a positioning server, the Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, the method comprises the following steps:

at least one Bluetooth positioning base station acquires a positioning instruction, wherein the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station;

the at least one Bluetooth positioning base station acquires positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station based on the positioning instruction;

the at least one Bluetooth positioning base station sends the positioning data to the MESH gateway, and the positioning data is used for the positioning server to determine the position information of the target object;

9. The method of claim 8, wherein the target object has a bluetooth locator disposed thereon, the method further comprising:

10. The method of claim 9, wherein the positioning signal data comprises a Received Signal Strength Indication (RSSI) and/or a signal reception angle between the target object and the at least one Bluetooth positioning base station.

11. The method according to claim 9 or 10, characterized in that the positioning data further comprises an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

12. The method of claim 8, further comprising:

and the at least one Bluetooth positioning base station performs local area time synchronization with the MESH gateway.

13. A positioning method is applied to a hybrid wireless system of an MESH network of a low-power Bluetooth BLE and a cellular mobile communication network, the hybrid wireless system comprises a plurality of Bluetooth positioning base stations, an MESH gateway and a positioning server, the Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, and the MESH gateway communicates with the positioning server through the cellular mobile communication network, the method comprises the following steps:

the positioning server receives positioning data sent by the MESH gateway through the cellular mobile communication network, wherein the positioning data is the positioning data of a target object in the range of at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station;

the positioning server determines the position information of the target object according to the positioning data;

14. The method according to claim 13, wherein a bluetooth locator is provided on the target object, and the positioning data comprises positioning signal data determined by the at least one bluetooth positioning base station according to a positioning signal transmitted by the bluetooth locator.

15. The method of claim 14, wherein the positioning signal data comprises a Received Signal Strength Indication (RSSI) and/or a signal reception angle between the target object and the at least one Bluetooth positioning base station.

16. The method according to claim 14 or 15, wherein the determining, by the positioning server, the position information of the target object according to the positioning data comprises:

the positioning server determines the relative position between the target object and the at least one Bluetooth positioning base station according to the positioning signal data;

and the positioning server determines the position information of the target object according to the relative position and the position information of the at least one Bluetooth positioning base station.

17. The method according to claim 14 or 15, characterized in that the positioning data further comprises an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

the method further comprises the following steps:

18. The method of claim 17, further comprising:

the positioning server determines the target object according to the identification of the target object and the corresponding relation between the object identification and the object; and/or

And the positioning server determines the at least one Bluetooth positioning base station according to the identification of the at least one Bluetooth positioning base station and the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

19. The method of claim 13, wherein the positioning data further comprises a world standard time corresponding to a start time of the local time;

the method further comprises the following steps:

and the positioning server determines a world standard time stamp corresponding to the position information of the target object according to the world standard time corresponding to the time stamp and the starting time of the local time.

20. The method of any one of claims 13 to 15, further comprising:

and the positioning server sends the position information of the target object to the electronic equipment.

21. An MESH gateway, wherein the MESH gateway is located in a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, the hybrid wireless system includes a plurality of bluetooth positioning base stations, the MESH gateway, and a positioning server, the plurality of bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, the MESH gateway includes:

the BLE communication unit is used for receiving positioning data sent by at least one Bluetooth positioning base station, wherein the positioning data is the positioning data of a target object within the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the plurality of Bluetooth positioning base stations comprise the at least one Bluetooth positioning base station;

a cellular mobile communication unit, configured to send the positioning data to the positioning server through the cellular mobile communication network, where the positioning data is used by the positioning server to determine location information of the target object;

22. The MESH gateway of claim 21, wherein said target object has a bluetooth locator disposed thereon, and wherein said positioning data comprises positioning signal data determined by said at least one bluetooth positioning base station based on a positioning signal transmitted by said bluetooth locator.

23. The MESH gateway of claim 22, wherein said positioning signal data comprises a Received Signal Strength Indication (RSSI) and/or a signal reception angle between said target object and said at least one Bluetooth positioning base station.

24. The MESH gateway of claim 22 or 23, wherein said positioning data further comprises an identification of said target object and/or an identification of said at least one bluetooth positioning base station;

25. The MESH gateway of claim 21, wherein said positioning data transmitted by said cellular mobile communications unit further comprises a universal time corresponding to a start time of said local area time.

26. The MESH gateway of claim 21, wherein said MESH gateway further comprises:

a processing unit for determining the local time.

27. The MESH gateway of any of claims 21-23, further comprising:

a processing unit, configured to, if the positioning data is not successfully sent to the positioning server through the cellular mobile communication network, store the positioning data;

the cellular mobile communication unit is further configured to:

resending the positioning data to the positioning server within a first time.

28. A Bluetooth positioning base station, wherein the Bluetooth positioning base station is located in a hybrid wireless system of an MESH network of a Bluetooth Low Energy (BLE) and a cellular mobile communication network, the hybrid wireless system includes a plurality of Bluetooth positioning base stations, an MESH gateway, and a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, the Bluetooth positioning base station is at least one of the plurality of Bluetooth positioning base stations, and the Bluetooth positioning base station includes:

the processing unit is used for acquiring a positioning instruction;

the processing unit is further used for acquiring positioning data of a target object in the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station based on the positioning instruction;

a BLE communication unit, configured to send the positioning data to the MESH gateway, where the positioning data is used by the positioning server to determine location information of the target object;

29. The bluetooth positioning base station of claim 28, wherein the target object has a bluetooth locator disposed thereon, and wherein the communication unit is further configured to:

and receiving a positioning signal sent by the Bluetooth positioner, wherein the positioning data comprises positioning signal data determined by the processing unit according to the positioning signal.

30. The bluetooth positioning base station according to claim 29, wherein the positioning signal data comprises a received signal strength indication RSSI and/or a signal reception angle between the target object and the at least one bluetooth positioning base station.

31. The bluetooth positioning base station according to claim 29 or 30, characterized in that the positioning data further comprises an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

32. The bluetooth positioning base station of claim 31, wherein the processing unit is further configured to:

and carrying out local area time synchronization with the MESH gateway.

33. A positioning server, wherein the positioning server is located in a hybrid wireless system of a MESH network of a low-power-consumption bluetooth BLE and a cellular mobile communication network, the hybrid wireless system includes a plurality of bluetooth positioning base stations, a MESH gateway, and the positioning server, the bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the positioning server includes:

a communication unit, configured to receive, through the cellular mobile communication network, positioning data sent by the MESH gateway, where the positioning data is positioning data of a target object within a range of at least one bluetooth positioning base station relative to the at least one bluetooth positioning base station, and the plurality of bluetooth positioning base stations include the at least one bluetooth positioning base station;

a processing unit for determining the position information of the target object according to the positioning data

34. The location server of claim 33, wherein a bluetooth locator is disposed on the target object, and the location data comprises location signal data determined by the at least one bluetooth location base station according to a location signal sent by the bluetooth locator.

35. The location server of claim 34, wherein the location signal data comprises a Received Signal Strength Indication (RSSI) and/or a signal reception angle between the target object and the at least one Bluetooth location base station.

36. The positioning server according to claim 34 or 35, wherein the processing unit is specifically configured to:

determining the relative position between the target object and the at least one Bluetooth positioning base station according to the positioning signal data;

and determining the position information of the target object according to the relative position and the position information of the at least one Bluetooth positioning base station.

37. The positioning server according to claim 34 or 35, characterized in that the positioning data further comprises an identification of the target object and/or an identification of the at least one bluetooth positioning base station;

the processing unit is further to:

and/or the positioning server stores the corresponding relation between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.

38. The positioning server of claim 37, wherein the processing unit is further configured to:

determining the target object according to the identification of the target object and the corresponding relation between the object identification and the object; and/or

And determining the at least one Bluetooth positioning base station according to the identifier of the at least one Bluetooth positioning base station and the corresponding relation between the identifier of the Bluetooth positioning base station and the Bluetooth positioning base station.

39. The location server of claim 33, wherein the location data further comprises a world standard time corresponding to a start time of the local time;

the processing unit is further to:

and determining a world standard time stamp corresponding to the position information of the target object according to the time stamp and the world standard time corresponding to the starting time of the local time.

40. The positioning server according to any of claims 33-35, wherein the communication unit is further configured to:

and sending the position information of the target object to the electronic equipment.

41. A positioning system, wherein the positioning system is a hybrid wireless system of a MESH network of a bluetooth low energy BLE and a cellular mobile communication network, the positioning system comprising:

a MESH gateway according to any one of claims 21-27;

a plurality of bluetooth positioning base stations comprising at least one bluetooth positioning base station according to any one of claims 28 to 32;

a location server according to any one of claims 33 to 40;