CN113068121A - Positioning method, positioning device, electronic equipment and medium - Google Patents
Positioning method, positioning device, electronic equipment and medium Download PDFInfo
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Abstract
The embodiment of the application discloses a positioning method, a positioning device, electronic equipment and a positioning medium, and relates to the technical field of communication. The method comprises the following steps: determining position information of at least three mobile terminals; acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals; and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals. By the scheme, the problems that two sets of positioning systems need to be built for positioning the mobile terminal and other objects at present, and the deployment complexity and cost of the system are increased are solved, so that the mobile terminal and other objects can be positioned by the conventional equipment, the positioning efficiency is improved, and the deployment cost of the positioning systems is saved.
Description
Technical Field
Embodiments of the present application relate to the field of communications technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a medium.
Background
In many current applications, for example, in scenes such as automobile driving, logistics, security, and the like, a target object needs to be located. Currently, the target object is generally located by wireless communication signals between the locating device and the target object.
The existing positioning method generally divides positioning into positioning for people and positioning for objects, and usually a set of system is respectively built for people positioning and object positioning, and an association relation cannot be established between the people positioning and the object positioning. For example, when a person is located, a set of locating system is set up, the position of a mobile terminal held by the person is detected through detection equipment, and the position of the person is determined through the position of the mobile terminal held by the person. When the object is positioned, a set of positioning system is additionally built, and the position of the object is detected through detection equipment.
In the current scheme, the positioning of people and objects is divided, system association cannot be carried out, and two positioning systems are independently and separately executed, so that the positioning efficiency is reduced, and the system deployment cost is increased.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device, electronic equipment and a positioning medium, which are used for realizing positioning of a mobile terminal and an object through a set of positioning system.
In one embodiment, an embodiment of the present application provides a positioning method, including:
determining position information of at least three mobile terminals;
acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
In another embodiment, the present application further provides a positioning apparatus, including:
the system comprises a position information determining module, a position information determining module and a position information determining module, wherein the position information determining module is used for determining the position information of at least three mobile terminals;
the intensity information acquisition module is used for acquiring signal intensity information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and the object positioning module is used for determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound with the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
In another embodiment, an embodiment of the present application further provides an electronic device, including: one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method according to any one of the embodiments of the present application.
In yet another embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the positioning method according to any one of the embodiments of the present application.
In the embodiment of the application, the position information of at least three mobile terminals is determined; acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals; and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals. By the scheme, the problems that two sets of systems need to be built for positioning the mobile terminal and positioning other objects at present, and the deployment complexity and cost of the systems are increased are solved, so that the positioning of the mobile terminal and other objects can be realized through the existing equipment, the positioning efficiency is improved, and the deployment cost of the positioning system is saved.
Drawings
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning method according to another embodiment of the present invention;
fig. 3 is a flowchart of a positioning method according to another embodiment of the present invention;
FIG. 4 is a schematic view of a triangulation structure according to another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention. The positioning method provided by the embodiment of the application can be suitable for positioning the object to be positioned. Typically, the embodiment of the application is suitable for the situation that the object to be positioned is positioned by a set of positioning equipment. The method may be specifically performed by a positioning apparatus, which may be implemented by means of software and/or hardware, which may be integrated in an electronic device capable of implementing the positioning method. Referring to fig. 1, the method of the embodiment of the present application specifically includes:
and S110, determining the position information of at least three mobile terminals.
The mobile terminal can be a mobile terminal such as a mobile phone, a tablet computer and a wearable device, and a communication module, for example, a bluetooth communication module, a wifi communication module and a zigbee communication module, is configured in the mobile terminal. The position of the mobile terminal can be determined by the terminal positioning beacon and the positioning base station set in the current environment, which is not described herein. The positioning device in the embodiment of the application determines the position information of at least three mobile terminals in the current environment. And if the mobile terminal is in the moving process, recording the latest updated position information of the mobile terminal.
In the embodiment of the present application, the mobile terminal is generally held by a person and moves along with the movement of the person. The positioning of the mobile terminal is also the positioning of the person.
And S120, acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals.
For example, a signal receiving module is disposed in the mobile terminal, and may receive a communication signal of a candidate positioning beacon disposed in an environment, and determine signal strength information between the current mobile terminal and the candidate positioning beacon. There may be a plurality of candidate positioning beacons set in the environment, which may be spread over different locations, and distances between each candidate positioning beacon and the mobile terminal may be different, so that signal strengths of communication signals of the candidate positioning beacons received by the mobile terminal may be different, or a part of the candidate positioning beacons may have a longer distance from the current mobile terminal, and the mobile terminal cannot receive the communication signals of the part of the candidate positioning beacons, that is, the signal strength information is zero. As long as the mobile terminal can detect the communication signal of the candidate positioning beacon, the signal strength information between the current mobile terminal and the candidate positioning beacon is acquired. For each mobile terminal, signal strength information between the mobile terminal and the candidate positioning beacon is obtained.
S130, determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
For example, an object in the environment may be bound to a candidate positioning beacon, which may move as the object moves in the environment, so that the positioning beacon-bound object is positioned by the communication signal of the positioning beacon. According to the signal intensity information between the target positioning beacon bound with the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals, the position information of the object to be positioned can be determined, so that the position information of the object to be positioned can be determined through the reverse positioning of the mobile terminals, a positioning system does not need to be additionally deployed, the object to be positioned can be positioned by using the existing equipment, the positioning efficiency is improved, and the positioning cost is saved.
In the embodiment of the present application, the position information of the object to be positioned is determined according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals, which may be determined by a triangulation algorithm.
In the embodiment of the application, the position information of at least three mobile terminals is determined; acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals; and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals. By the scheme, the problems that two sets of systems need to be built for positioning the mobile terminal and positioning other objects at present, and the deployment complexity and cost of the systems are increased are solved, so that the positioning of the mobile terminal and other objects can be realized through the existing equipment, the positioning efficiency is improved, and the deployment cost of the positioning system is saved.
Fig. 2 is a flowchart of a positioning method according to another embodiment of the present invention. For further optimization of the embodiments, details which are not described in detail in the embodiments of the present application are described in the embodiments. Referring to fig. 2, a positioning method provided in an embodiment of the present application may include:
s210, determining the position information of at least three mobile terminals.
S220, acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals.
S230, searching signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals from the signal strength information between the at least three mobile terminals and the candidate positioning beacon.
For example, as long as the mobile terminal can receive the communication signal of the candidate positioning beacon, the signal strength information between the candidate positioning beacon and the mobile terminal can be acquired, and therefore, each mobile terminal can receive the signal strength information between a plurality of candidate positioning beacons and the mobile terminal. However, it is not necessary to determine the location information of all the candidate positioning beacons, and it may be only necessary to determine the location information of some candidate positioning beacons in the candidate positioning beacons, so that the candidate positioning beacon that needs to be positioned in the candidate positioning beacons is determined as the target positioning beacon, and the signal strength information between the target positioning beacon and the mobile terminal is searched from the signal strength information.
In this embodiment of the present application, searching for signal strength information between a target positioning beacon to which an object to be positioned is bound and the at least three mobile terminals from signal strength information between the at least three mobile terminals and candidate positioning beacons includes: and determining the signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals according to the identifier of the target positioning beacon bound by the object to be positioned and the identifier of the candidate positioning beacon.
For example, each candidate positioning beacon is provided with an identifier, and the acquired signal strength information corresponds to each candidate positioning beacon, that is, corresponds to the identifier of each candidate positioning beacon. For example, the signal strength information between the candidate positioning beacon identified as 1 and the mobile terminal 1 corresponds to the identification 1, which may be denoted as rssi1，1. The signal strength information between the candidate positioning beacon identified as 5 and the mobile terminal 1 corresponds to the identification 1, which may be denoted as rssi1，5. The target positioning beacon belongs to the candidate positioning beacon and also has a corresponding identification. According to the identifier of the target positioning beacon, the signal strength information between the target positioning beacon and the mobile terminal can be determined, for example, if the identifier of the target positioning beacon is h, the signal strength information between the target positioning beacon and the mobile terminal can be determined as rssi1，h。
In this embodiment of the present application, determining, according to an identifier of a target positioning beacon bound to an object to be positioned and an identifier of a candidate positioning beacon, signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals includes: matching the identity of the target positioning beacon with the identity of a candidate positioning beacon; and determining the signal strength information corresponding to the candidate positioning beacon successfully matched with the identifier of the target positioning beacon as the signal strength information corresponding to the target positioning beacon.
For example, for a target positioning beacon bound to an object to be positioned, an identifier of the target positioning beacon is matched with an identifier of a candidate positioning beacon, and if the matching is successful, signal strength information corresponding to the candidate positioning beacon, that is, signal strength information corresponding to the target positioning beacon, is obtained.
S240, determining the distances between the target positioning beacon and the at least three mobile terminals according to the signal strength information between the target positioning beacon and the at least three mobile terminals.
Illustratively, the distance between the target positioning beacon and the mobile terminal may be determined based on signal strength information between the target positioning beacon and the mobile terminal.
In this embodiment of the present application, determining distances between the target positioning beacon and at least three mobile terminals according to signal strength information between the target positioning beacon and the at least three mobile terminals includes: determining a distance between the target positioning beacon and each of the at least three mobile terminals based on the following formula:
d＝10(abs(rssi)-A)/(10×n)
wherein d is the distance between the target positioning beacon and each mobile terminal, rsi is the signal strength information between the target positioning beacon and each mobile terminal, A is the signal strength when the target Bluetooth signal is 1 meter away from each mobile terminal, and n is an environment attenuation factor.
And S250, determining the position information of the object to be positioned bound by the target positioning beacon according to the distance between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals.
According to the technical scheme, the signal intensity information corresponding to the target positioning beacon is searched in the signal intensity information acquired by the mobile terminal, and the distances between the target positioning beacon and the at least three mobile terminals are determined according to the signal intensity information corresponding to the target positioning beacon, so that the target positioning beacon is reversely positioned according to the position information of the mobile terminal and the information acquired by the mobile terminal, and the positioning of the object to be positioned bound by the target positioning beacon can be realized without additionally deploying a positioning system and equipment.
Fig. 3 is a flowchart of a positioning method according to another embodiment of the present invention. In the embodiment of the present application, details that are not described in detail in the embodiment of the present application are referred to in the above embodiment for further optimization of S250 in the above embodiment. Referring to fig. 3, a positioning method provided in an embodiment of the present application may include:
and S251, establishing an equation set according to the distances between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals.
Illustratively, the system of equations may be established based on geometric relationships between at least three mobile terminals and the target positioning beacon.
In this embodiment of the present application, establishing an equation set according to distances between the target positioning beacon and the at least three mobile terminals and the location information of the at least three mobile terminals includes: determining an expression of the distance between a target positioning beacon and a mobile terminal; determining a distance equation according to the expression and the distance between the target positioning beacon and each mobile terminal; and establishing an equation set according to the distance equations corresponding to the at least three mobile terminals and the target positioning beacon.
Illustratively, an expression of the distance between the target positioning beacon and the mobile terminal is established according to the position information of the mobile terminal and the position information of the target positioning information, and then the expression is made equal to the actual distance between the target positioning beacon and the mobile terminal, thereby establishing an equation. An equation is correspondingly established for each mobile terminal, and at least three equations corresponding to at least three mobile terminals form an equation set.
In the embodiment of the present application, the determining an expression of the distance between the target positioning beacon and the mobile terminal includes: setting preset coordinate representation for the target positioning beacon; and determining an expression of the distance between the target positioning beacon and each mobile terminal according to the preset coordinate representation of the target positioning beacon and the coordinate representation in the position information of each mobile terminal.
Illustratively, as shown in fig. 4, the coordinates of the target positioning beacon are set to be (x, y), and the coordinates of the mobile terminal A, B, C are respectively: (x)a，ya)，(xb，yb)，(xc，yc). The distance between the mobile terminal A and the target positioning beacon is d1Distance between mobile terminal B and target positioning beacon is d2Distance between mobile terminal C and target positioning beacon is d3The expression of the distance between the target positioning beacon and the mobile terminal a is: (x)a-x)2+(ya-y)2. Determining an equation according to the expression and the specific distance value as follows:
the equation between the mobile terminal B and the target positioning beacon can be determined similarly
Equation between mobile terminal C and target positioning beacon
And S252, respectively making differences between the target equations in the equation set and other equations except the target equations, and expressing the difference results by using a matrix.
Exemplarily, taking three mobile terminals as an example, will
As a target equation, the other two equations are respectively used for carrying out difference on the target equation, so that
The difference result is expressed in a matrix form: AX is b. Wherein:
and S253, solving the matrix based on a least square method to obtain the position information of the target positioning beacon binding the object to be positioned.
Solving by using a least square method, namely solving the minimum value of AX-b two norms, namely:
solving by using a least square method to obtain:
X＝(ATA)-1ATb
thereby obtaining the coordinates (x, y) of the target positioning beacon.
According to the scheme in the embodiment of the application, an equation set is established according to the distance between the target positioning beacon and the at least three terminals, the coordinates of the target positioning beacon and the coordinates of the at least three terminals, the coordinates of the target positioning beacon are obtained by solving the equation set, and then the position information of the object to be positioned bound by the target positioning beacon is determined, so that the object to be positioned is reversely positioned according to the mobile terminal, the complex process of deploying a new positioning system is reduced, the positioning cost is reduced, and the positioning accuracy is improved through reverse positioning of the mobile terminal.
In this embodiment of the present application, determining the location information of an object to be located according to signal strength information between a target positioning beacon bound to the object to be located and at least three mobile terminals and location information of the at least three mobile terminals includes: and determining at least three mobile terminals from all the mobile terminals according to the sequence of the signal strength in the signal strength information, wherein the mobile terminals are used for determining the position information of the object to be positioned.
For example, only three mobile terminals may be used, and the location information of the target positioning beacon may be determined according to the location information of the three mobile terminals and the signal strength information between the three mobile terminals and the target positioning beacon. The mobile terminal for determining the location information of the target positioning beacon may be selected according to the ranking of the signal strengths between the target positioning beacon and all the mobile terminals, which is obtained by all the mobile terminals, for example, the mobile terminal corresponding to the three pieces of signal strength information with the largest signal strength is selected, or the mobile terminal corresponding to the three pieces of signal strength information with the difference smaller than a preset difference value is selected.
In this embodiment of the present application, determining at least three mobile terminals from all the mobile terminals according to the ranking of the signal strengths in the signal strength information, where the determining is used to determine the location information of the object to be located, includes: and determining the mobile terminal corresponding to the signal strength information with the maximum signal strength, wherein the mobile terminal is used for determining the position information of the object to be positioned.
For example, the signal strength information with the maximum signal strength, the second signal strength and the third signal strength may be selected from the signal strength information of the target positioning beacon acquired by all the mobile terminals, the mobile terminals corresponding to the three signal strength information may be determined, and the position information of the target positioning beacon may be determined according to the position information of the three mobile terminals and the three signal strength information.
In this embodiment of the present application, determining the location information of an object to be located according to signal strength information between a target positioning beacon bound to the object to be located and at least three mobile terminals and location information of the at least three mobile terminals includes: determining three mobile terminals from all the mobile terminals, and determining first position information of an object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound with the object to be positioned and the three mobile terminals; determining three mobile terminals from the rest mobile terminals, and determining second position information of the object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound by the object to be positioned and the three mobile terminals until the preset number of position information of the object to be positioned is determined; the preset number is more than or equal to two; and determining the position information of the object to be positioned according to the preset number of position information.
Illustratively, if there are n mobile terminals in the environment, the location of each mobile terminal is: [ x ] of1，y1]、[x2，y2]...[xn，yn]Wherein [ x ]i，yi]Is the location information of the ith mobile terminal. If there are m candidate bluetooth beacons in the environment, the signal strength information obtained by each mobile terminal and the candidate positioning beacon in the environment may be:
[rssi1，1，rssi1，2，...，rss1，j，...，rssi1，m]
[rssi2，1，rssi2，2，...，rss2，j，...，rssi2，m]
…
[rssin，1，rssin，2，...，rssn，j，...，rssin，m]
wherein rs isi，jSignal strength information between the obtained and jth candidate positioning beacons for the ith mobile terminal. For example, if it is desired to determine the location information of the target positioning beacon identified as h, the location information [ x ] corresponding to the 1 st, 2 nd and 3 rd mobile terminals may be selected1，y1]、[x2，y2]、[x3，y3]And corresponding signal strength information rssi1，h、rssi2，h、rssi3，hAnd determining first position information of the object to be positioned bound by the target positioning beacon. Then, the 4 th, 5 th and 6 th mobile terminals are selected to correspond to the position information [ x ]4，y4]、[x5，y5]、[x6，y6]And corresponding signal strength information rssi4，h、rssi5，h、rssi6，hAnd determining second position information of the object to be positioned bound by the target positioning beacon, and determining the position information of the object to be positioned bound by the target positioning beacon according to the first position information and the second position information. The information of the 7 th mobile terminal, the information of the 8 th mobile terminal and the information of the 9 th mobile terminal can also be selectedAnd determining third position information, and determining the position information of the object to be positioned bound by the target positioning beacon according to the first position information, the second position information and the third position information, namely determining the position information of the object to be positioned bound by a new target positioning beacon by taking the related information of three different mobile terminals at each time, thereby determining the final position information of the object to be positioned according to the plurality of position information.
In this embodiment of the present application, determining the position information of the object to be positioned according to at least two pieces of position information includes: determining an average of at least two location information; and taking the average value as the position information of the object to be positioned.
For example, if at least two pieces of location information are determined according to the location information of at least two groups of mobile terminals and the signal strength information of the target positioning beacon, an average value of the at least two pieces of location information may be taken, and the average value is used as the location information of the object to be positioned.
In this embodiment of the present application, determining the position information of the object to be positioned according to at least two pieces of position information includes: clustering at least two pieces of position information; and determining the position information of the object to be positioned according to the clustering cluster with the position information quantity larger than the preset quantity threshold value.
For example, if at least two pieces of location information are determined according to the location information of at least two groups of mobile terminals and the signal strength information of the target positioning beacon, the at least two pieces of location information may be clustered by using a clustering algorithm, cluster clusters with location information less than or equal to a preset number threshold are removed, that is, individual error location information deviating from the whole is removed, cluster clusters with location information greater than the preset number threshold are reserved, so that error location information deviating from the actual location of the target positioning beacon is removed, and the final location information of the object to be positioned bound by the target positioning beacon is determined according to the aggregated location information. The specific method may also be to calculate an average value of at least two pieces of clustered location information, and use the average value as the location information of the object to be located bound by the target location beacon.
Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present invention. The device is applicable to the situation of positioning the object to be positioned. Typically, the embodiment of the application is suitable for the situation that the object to be positioned is positioned by a set of positioning equipment. The apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in an electronic device. Referring to fig. 5, the apparatus specifically includes:
a location information determining module 310, configured to determine location information of at least three mobile terminals;
a strength information obtaining module 320, configured to obtain, by the at least three mobile terminals, signal strength information between the at least three mobile terminals and the candidate positioning beacon;
the object positioning module 330 is configured to determine the location information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the location information of the at least three mobile terminals.
In an embodiment of the present application, the apparatus further includes:
and the searching module is used for searching the signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals from the signal strength information between the at least three mobile terminals and the candidate positioning beacon.
In an embodiment of the present application, the search module is specifically configured to:
and determining the signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals according to the identifier of the target positioning beacon bound by the object to be positioned and the identifier of the candidate positioning beacon.
In an embodiment of the present application, the search module is specifically configured to:
matching the identity of the target positioning beacon with the identity of a candidate positioning beacon;
and determining the signal strength information corresponding to the candidate positioning beacon successfully matched with the identifier of the target positioning beacon as the signal strength information corresponding to the target positioning beacon.
In an embodiment of the present application, the object positioning module 330 includes:
the distance determining unit is used for determining the distances between the target positioning beacon and the at least three mobile terminals according to the signal strength information between the target positioning beacon and the at least three mobile terminals;
and the positioning unit is used for determining the position information of the object to be positioned bound by the target positioning beacon according to the distances between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
determining a distance between the target positioning beacon and each of the at least three mobile terminals based on the following formula:
d＝10(abs(rssi)-A)/(10×n)
wherein d is the distance between the target positioning beacon and each mobile terminal, rsi is the signal strength information between the target positioning beacon and each mobile terminal, A is the signal strength when the target Bluetooth signal is 1 meter away from each mobile terminal, and n is an environment attenuation factor.
In an embodiment of the present application, the positioning unit is specifically configured to:
establishing an equation set according to the distances between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals;
respectively subtracting the target equations in the equation set from other equations except the target equations, and expressing the subtraction results by using a matrix;
and solving the matrix based on a least square method to obtain the position information of the target positioning beacon binding the object to be positioned.
In an embodiment of the present application, the positioning unit is specifically configured to:
determining an expression of the distance between a target positioning beacon and a mobile terminal;
determining a distance equation according to the expression and the distance between the target positioning beacon and each mobile terminal;
and establishing an equation set according to the distance equations corresponding to the at least three mobile terminals and the target positioning beacon.
In an embodiment of the present application, the positioning unit is specifically configured to:
setting preset coordinate representation for the target positioning beacon;
and determining an expression of the distance between the target positioning beacon and each mobile terminal according to the preset coordinate representation of the target positioning beacon and the coordinate representation in the position information of each mobile terminal.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
and determining at least three mobile terminals from all the mobile terminals according to the sequence of the signal strength in the signal strength information, wherein the mobile terminals are used for determining the position information of the object to be positioned.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
and determining the mobile terminal corresponding to the signal strength information with the maximum signal strength, wherein the mobile terminal is used for determining the position information of the object to be positioned.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
determining three mobile terminals from all the mobile terminals, and determining first position information of an object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound with the object to be positioned and the three mobile terminals;
determining three mobile terminals from the rest mobile terminals, and determining second position information of the object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound by the object to be positioned and the three mobile terminals until the preset number of position information of the object to be positioned is determined; the preset number is more than or equal to two;
and determining the position information of the object to be positioned according to the preset number of position information.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
determining an average of at least two location information;
and taking the average value as the position information of the object to be positioned.
In this embodiment of the present application, the object positioning module 330 is specifically configured to:
clustering at least two pieces of position information;
and determining the position information of the object to be positioned according to the clustering cluster with the position information quantity larger than the preset quantity threshold value.
The positioning device provided by the embodiment of the application can execute the positioning method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the present application. The electronic device 412 shown in fig. 6 is only an example and should not bring any limitations to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the electronic device 412 may include: one or more processors 416; the memory 428 is configured to store one or more programs, and when the one or more programs are executed by the one or more processors 416, the one or more processors 416 are enabled to implement the positioning method provided in the embodiment of the present application, including:
determining position information of at least three mobile terminals;
acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
The components of the electronic device 412 may include, but are not limited to: one or more processors or processors 416, a memory 428, and a bus 418 that couples the various device components including the memory 428 and the processors 416.
A program/utility 440 having a set (at least one) of program modules 442 may be stored, for instance, in memory 428, such program modules 442 including, but not limited to, an operating device, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 442 generally perform the functions and/or methodologies of the described embodiments of the invention.
The electronic device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), with one or more devices that enable a user to interact with the electronic device 412, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 412 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 422. Also, the electronic device 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through the network adapter 420. As shown in FIG. 6, network adapter 420 communicates with the other modules of electronic device 412 over bus 418. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with the electronic device 412, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID devices, tape drives, and data backup storage devices, among others.
The processor 416 executes various functional applications and data processing, such as implementing a positioning method provided by embodiments of the present application, by executing at least one of the other programs stored in the memory 428.
One embodiment of the present invention provides a storage medium containing computer-executable instructions that when executed by a computer processor perform a positioning method, comprising:
determining position information of at least three mobile terminals;
acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable storage media. The computer readable storage medium may be a computer readable signal storage medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the present application, a computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
A computer readable signal storage medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or device. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (17)
1. A method of positioning, the method comprising:
determining position information of at least three mobile terminals;
acquiring signal strength information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound to the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
2. The method of claim 1, wherein before determining the location information of the object to be located according to the signal strength information between the target positioning beacon bound by the object to be located and at least three mobile terminals and the location information of the at least three mobile terminals, the method further comprises:
and searching the signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals from the signal strength information between the at least three mobile terminals and the candidate positioning beacon.
3. The method of claim 2, wherein searching for signal strength information between a target positioning beacon to which an object to be positioned is bound and the at least three mobile terminals from the signal strength information between the at least three mobile terminals and candidate positioning beacons comprises:
and determining the signal strength information between the target positioning beacon bound by the object to be positioned and the at least three mobile terminals according to the identifier of the target positioning beacon bound by the object to be positioned and the identifier of the candidate positioning beacon.
4. The method of claim 3, wherein determining the signal strength information between the target positioning beacon to which the object to be positioned is bound and the at least three mobile terminals according to the identifier of the target positioning beacon to which the object to be positioned is bound and the identifier of the candidate positioning beacon comprises:
matching the identity of the target positioning beacon with the identity of a candidate positioning beacon;
and determining the signal strength information corresponding to the candidate positioning beacon successfully matched with the identifier of the target positioning beacon as the signal strength information corresponding to the target positioning beacon.
5. The method of claim 1, wherein determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound by the object to be positioned and at least three mobile terminals and the position information of the at least three mobile terminals comprises:
determining distances between the target positioning beacon and the at least three mobile terminals according to the signal strength information between the target positioning beacon and the at least three mobile terminals;
and determining the position information of the object to be positioned bound by the target positioning beacon according to the distance between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals.
6. The method of claim 5, wherein determining the distances between the target positioning beacon and at least three mobile terminals based on the signal strength information between the target positioning beacon and at least three mobile terminals comprises:
determining a distance between the target positioning beacon and each of the at least three mobile terminals based on the following formula:
d＝10(abs(rssi)-A)/(10×n)
wherein d is the distance between the target positioning beacon and each mobile terminal, rsi is the signal strength information between the target positioning beacon and each mobile terminal, A is the signal strength when the target Bluetooth signal is 1 meter away from each mobile terminal, and n is an environment attenuation factor.
7. The method of claim 5, wherein determining the location information of the object to be located bound by the target positioning beacon according to the distances between the target positioning beacon and at least three mobile terminals and the location information of at least three mobile terminals comprises:
establishing an equation set according to the distances between the target positioning beacon and the at least three mobile terminals and the position information of the at least three mobile terminals;
respectively subtracting the target equations in the equation set from other equations except the target equations, and expressing the subtraction results by using a matrix;
and solving the matrix based on a least square method to obtain the position information of the target positioning beacon binding the object to be positioned.
8. The method of claim 7, wherein establishing a system of equations according to the distances between the target positioning beacon and the at least three mobile terminals and the location information of the at least three mobile terminals comprises:
determining an expression of the distance between a target positioning beacon and a mobile terminal;
determining a distance equation according to the expression and the distance between the target positioning beacon and each mobile terminal;
and establishing an equation set according to the distance equations corresponding to the at least three mobile terminals and the target positioning beacon.
9. The method of claim 8, wherein determining the expression for the distance between the target positioning beacon and the mobile terminal comprises:
setting preset coordinate representation for the target positioning beacon;
and determining an expression of the distance between the target positioning beacon and each mobile terminal according to the preset coordinate representation of the target positioning beacon and the coordinate representation in the position information of each mobile terminal.
10. The method of claim 1, wherein determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound by the object to be positioned and at least three mobile terminals and the position information of the at least three mobile terminals comprises:
and determining at least three mobile terminals from all the mobile terminals according to the sequence of the signal strength in the signal strength information, wherein the mobile terminals are used for determining the position information of the object to be positioned.
11. The method of claim 10, wherein determining at least three mobile terminals from all mobile terminals for determining the location information of the object to be located according to the ranking of signal strengths in the signal strength information comprises:
and determining the mobile terminal corresponding to the signal strength information with the maximum signal strength, wherein the mobile terminal is used for determining the position information of the object to be positioned.
12. The method of claim 1, wherein determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound by the object to be positioned and at least three mobile terminals and the position information of the at least three mobile terminals comprises:
determining three mobile terminals from all the mobile terminals, and determining first position information of an object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound with the object to be positioned and the three mobile terminals;
determining three mobile terminals from the rest mobile terminals, and determining second position information of the object to be positioned according to the position information of the three mobile terminals and signal strength information between a target positioning beacon bound by the object to be positioned and the three mobile terminals until the preset number of position information of the object to be positioned is determined; the preset number is more than or equal to two;
and determining the position information of the object to be positioned according to the preset number of position information.
13. The method of claim 12, wherein determining the location information of the object to be located based on at least two location information comprises:
determining an average of at least two location information;
and taking the average value as the position information of the object to be positioned.
14. The method of claim 12, wherein determining the location information of the object to be located based on at least two location information comprises:
clustering at least two pieces of position information;
and determining the position information of the object to be positioned according to the clustering cluster with the position information quantity larger than the preset quantity threshold value.
15. A positioning device, the device comprising:
the system comprises a position information determining module, a position information determining module and a position information determining module, wherein the position information determining module is used for determining the position information of at least three mobile terminals;
the intensity information acquisition module is used for acquiring signal intensity information between the at least three mobile terminals and the candidate positioning beacons through the at least three mobile terminals;
and the object positioning module is used for determining the position information of the object to be positioned according to the signal strength information between the target positioning beacon bound with the object to be positioned and the at least three mobile terminals and the position information of the at least three mobile terminals.
16. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the positioning method of any one of claims 1-14.
17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1-14.
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