CN113225685A - Track error correction method, device, equipment and storage medium - Google Patents
Track error correction method, device, equipment and storage medium Download PDFInfo
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- CN113225685A CN113225685A CN202110491248.2A CN202110491248A CN113225685A CN 113225685 A CN113225685 A CN 113225685A CN 202110491248 A CN202110491248 A CN 202110491248A CN 113225685 A CN113225685 A CN 113225685A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The application provides a track error correction method, a device, equipment and a storage medium, wherein the method comprises the following steps: calculating a difference value between a first target distance and a second target distance for each target Bluetooth device arranged in a target area, wherein the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the RSSI of the target Bluetooth device received by the user terminal at the target position; judging whether the ratio of the target difference values larger than the preset threshold value in the difference values is larger than the preset ratio or not; if the ratio is larger than the preset ratio, the target position is removed from the moving track; by the method, inaccurate target positions on the moving track can be removed, and the accuracy of the moving track is improved.
Description
Technical Field
The present application relates to the field of indoor positioning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for track error correction.
Background
With the development of wireless communication technology, wireless positioning technology is widely applied to different fields such as logistics management, intelligent security, intelligent device management and control and the like, so as to achieve the purposes of determining a moving track or intelligent navigation and the like.
In the prior art, after the position coordinates of the target object at each time are determined, the position coordinates of each determined position are directly used to form the movement track of the target object, but there is a possibility that an inaccurate position generated by abnormal positioning exists on the determined movement track of the target object.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for track error correction to remove an inaccurate target position on a moving track.
Mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a track error correction method, where the method includes:
calculating a difference value between a first target distance and a second target distance for each target Bluetooth device arranged in a target area, wherein the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a moving track generated when the user side moves in the target area can be used as the target position;
judging whether the ratio of a target difference value in each difference value is greater than a preset ratio, wherein the target difference value is a difference value greater than a preset threshold value;
and if the target position is larger than the preset occupation ratio, removing the target position from the moving track.
Optionally, before the calculating the difference between the first target distance and the second target distance, the method further includes:
the RSSI of all target Bluetooth equipment received by the user side at the target position is used as an input parameter of a first regression model, and the abscissa of the target position is obtained;
and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
Optionally, the method further includes:
screening the RSSI of a first Bluetooth device carrying a specified identifier from the RSSI of at least one Bluetooth device received by the user side at the target position, wherein the specified identifier is used for indicating that the Bluetooth device is located in the target area;
judging whether the RSSI of the first Bluetooth device comprises the RSSI of all second Bluetooth devices arranged in the target area;
if the RSSI of all the second Bluetooth devices is not included, setting the RSSI value of a third Bluetooth device as a preset value, and taking the RSSI of the first Bluetooth device and the RSSI of the third Bluetooth device as the RSSI of the target Bluetooth device, wherein the third Bluetooth device is other Bluetooth devices except the first Bluetooth device in all the first Bluetooth devices.
Optionally, the method further includes:
normalizing a first data set to obtain a first regression equation as the first regression model after the normalization, wherein the first data set comprises the RSSIs of all target Bluetooth devices received by a target device at least one first specified position in the target area, the abscissa of each first specified position and the local area network addresses of each target Bluetooth device, and the target device is a device moving in the target area;
and normalizing a second data set to obtain a second regression equation as the second regression model, wherein the second data set comprises the RSSIs of all target Bluetooth devices received by the target device at least one second specified position in the target area, the ordinate of each second specified position and the local area network addresses of the target Bluetooth devices.
Optionally, the target area is located indoors.
Optionally, after the target position is removed from the moving track, the method further includes:
and displaying a target moving track, wherein the target moving track is formed by positions which are not removed on the moving track.
In a second aspect, an embodiment of the present application provides a track error correction apparatus, including:
a calculating module, configured to calculate, for each target bluetooth device disposed in a target area, a difference between a first target distance and a second target distance, where the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a moving track generated when the user side moves in the target area can be used as the target position;
the first judgment module is used for judging whether the occupation ratio of a target difference value in each difference value is greater than a preset occupation ratio or not, wherein the target difference value is a difference value greater than a preset threshold value;
and the error correction module is used for removing the target position from the moving track if the target position is larger than the preset occupation ratio.
Optionally, before the calculating module is configured to calculate the difference between the first target distance and the second target distance, the calculating module is further configured to:
the RSSI of all target Bluetooth equipment received by the user side at the target position is used as an input parameter of a first regression model, and the abscissa of the target position is obtained;
and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
Optionally, the track error correction device further includes:
the screening module is used for screening the RSSI of the first Bluetooth device carrying a specified identifier from the RSSI of at least one Bluetooth device received by the user side at the target position, wherein the specified identifier is used for indicating that the Bluetooth device is located in the target area;
the second judging module is used for judging whether the RSSI of the first Bluetooth device comprises the RSSIs of all the second Bluetooth devices arranged in the target area;
and the setting module is used for setting the RSSI value of the third Bluetooth device as a preset value if the RSSI of all the second Bluetooth devices is not included, so as to take the RSSI of the first Bluetooth device and the RSSI of the third Bluetooth device as the RSSI of the target Bluetooth device, wherein the third Bluetooth device is other Bluetooth devices except the first Bluetooth device in all the first Bluetooth devices.
Optionally, the track error correction device further includes:
a first processing module, configured to perform normalization processing on a first data set, so as to obtain a first regression equation as the first regression model after the normalization processing, where the first data set includes RSSIs of all target bluetooth devices received by a target device at least one first specified location in the target area, abscissa of each first specified location, and a local area network address of each target bluetooth device, where the target device is a device that moves in the target area;
the second processing module is configured to perform normalization processing on a second data set, so as to obtain a second regression equation as the second regression model after the normalization processing, where the second data set includes the RSSIs of all target bluetooth devices received by the target device at least one second designated location in the target area, the ordinate of each second designated location, and the lan address of each target bluetooth device.
Optionally, the target area is located indoors.
Optionally, the error correction module is configured to, after the target position is removed from the moving track, further display a target moving track, where the target moving track is formed by positions on the moving track that are not removed.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the track error correction method according to any one of the above first aspects when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the track error correction method in any one of the above first aspects.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the track error correction method provided by the embodiment of the application takes each position on a moving track as a target position, in order to determine the accuracy of the moving track in a target area, at least one target bluetooth device is arranged in the target area, for each target bluetooth device arranged in the target area, a first target distance between the target position on the moving track and the target bluetooth device is calculated according to the position coordinates of the target position and the position coordinates of the target bluetooth device, then a second target distance between the theoretical target position and the target bluetooth device is calculated according to the received signal strength indication RSSI of the target bluetooth device received by a user terminal at the target position, after the theoretical second target distance and the actual first target distance are calculated, a difference value between the first target distance and the second target distance is calculated, for the target bluetooth device, if the difference is greater than the preset threshold, it indicates that the position coordinate of the target position is inaccurate for the target bluetooth device, and for all target bluetooth devices, if the ratio of the target difference greater than the preset threshold in each difference is greater than the preset ratio, it indicates that the inaccuracy degree of the target position on the determined movement track is higher, which affects the accuracy of the movement track, so that the target position needs to be removed from the movement track to achieve the purpose of correcting the movement track.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart illustrating a track error correction method according to an embodiment of the present application;
FIG. 2 is a flow chart of another track error correction method provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a track error correction apparatus according to a second embodiment of the present application;
fig. 4 shows a schematic structural diagram of a computer device provided in a third embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a track error correction method, a track error correction device, track error correction equipment and a storage medium, and is described by the embodiment below.
Example one
Fig. 1 shows a flowchart of a track error correction method provided in a first embodiment of the present application, and as shown in fig. 1, the track error correction method includes the following steps:
step S101: calculating a difference value between a first target distance and a second target distance for each target Bluetooth device arranged in a target area, wherein the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a movement track generated when the user side moves in the target area can be used as the target position.
Specifically, the target area is a designated space area, the space area includes an indoor space area and/or an outdoor space area, such as two floors of a building or an outdoor square, in order to accurately locate the user, at least one target bluetooth device is arranged in the target area, when the user carrying the user end moves in the target area, a movement track of the user end is obtained, in order to determine the accuracy of the movement track, for each position on the movement track, the position is taken as a target position, the position coordinates of the target position are obtained, then the position coordinates of each target bluetooth device are obtained, for each target bluetooth device, the position coordinates of the target bluetooth device and the position coordinates of the target position are substituted into a two-point distance calculation formula, and the distance between the target position and the target bluetooth device is obtained, taking the distance as a first target distance between the target position and the target bluetooth device, then substituting the RSSI (Received Signal Strength Indication) of the target bluetooth device Received by the user at the target position into a preset distance calculation formula to obtain a distance between the target position and the target bluetooth device, taking the distance as a second target distance between the target position and the target bluetooth device, and calculating a difference value between the first target distance and the second target distance after obtaining the first target distance and the second target distance.
It should be noted that, for each target location, the number of difference values corresponding to the target location is the same as the number of target bluetooth devices, for example, for the target location a, three target bluetooth devices are set in the target area, which are the target bluetooth device B1, the target bluetooth device B2 and the target bluetooth device B3, for the target location a and the target bluetooth device B1, a first target distance C1 between the target location a and the target bluetooth device B1 is calculated first, a second target distance D1 between the target location a and the target bluetooth device B1 is calculated, and finally, a difference value Z1 between the first target distance C1 and the second target distance D1 is calculated; for the target position A and the target Bluetooth device B2, first calculating a first target distance C2 between the target position A and the target Bluetooth device B2, then calculating a second target distance D2 between the target position A and the target Bluetooth device B2, and finally calculating a difference Z2 between the first target distance C2 and the second target distance D2; for the target position A and the target Bluetooth device B3, first calculating a first target distance C3 between the target position A and the target Bluetooth device B3, then calculating a second target distance D3 between the target position A and the target Bluetooth device B3, and finally calculating a difference Z3 between the first target distance C3 and the second target distance D3; and calculating three difference values corresponding to the target position A according to the calculation mode, wherein the number of the difference values is the same as that of the target Bluetooth devices.
It should be noted that the preset distance calculation formula may be set according to actual conditions, for example, using the formula d equal to 10(bbs(rssi)-A)/(10×n)Wherein RSSI refers to RSSI of a target bluetooth device received by a user terminal at a target position, d refers to a second target distance between the target position and the target bluetooth device, a refers to signal strength when a preset transmitting terminal and a preset receiving terminal are separated by 1 meter, and n refers to an environment attenuation factor; in this calculation formula, a and n may be assigned according to human experience.
Step S102: and judging whether the ratio of the target difference value in each difference value is greater than a preset ratio, wherein the target difference value is a difference value greater than a preset threshold value.
Step S103: and if the target position is larger than the preset occupation ratio, removing the target position from the moving track.
Specifically, for each difference value corresponding to the target position, if the difference value is greater than a preset threshold, it is indicated that the position coordinate of the target position is inaccurate, and in at least one difference value corresponding to the target position, the more the target difference value greater than the preset threshold is, the higher the degree of inaccuracy of the position coordinate of the target position is indicated, so that whether the ratio of the target difference value in each difference value is greater than a preset ratio is determined, and if the ratio is greater than the preset ratio, it is indicated that the degree of inaccuracy of the position coordinate of the target position is higher, so that the accuracy of the movement track formed by the target position is affected, so that the target position is removed from the movement track, so as to achieve the purpose of correcting the movement track.
In a track error correction method provided in fig. 1, regarding each position on a moving track as a target position, in order to determine the accuracy of the moving track in a target area, at least one target bluetooth device is disposed in the target area, for each target bluetooth device disposed in the target area, a first target distance between the target position and the target bluetooth device on the moving track is calculated according to a position coordinate of the target position and a position coordinate of the target bluetooth device, then a second target distance between the theoretical target position and the target bluetooth device is calculated according to a received signal strength indication RSSI of the target bluetooth device received by a user terminal at the target position, and after the theoretical second target distance and an actual first target distance are calculated, a difference between the first target distance and the second target distance is calculated, for the target bluetooth device, if the difference is greater than the preset threshold, it indicates that the position coordinate of the target position is inaccurate for the target bluetooth device, and for all target bluetooth devices, if the ratio of the target difference greater than the preset threshold in each difference is greater than the preset ratio, it indicates that the inaccuracy degree of the target position on the determined movement track is higher, which affects the accuracy of the movement track, so that the target position needs to be removed from the movement track to achieve the purpose of correcting the movement track.
In a possible embodiment, before the step S101, the track error correction method further includes the following steps:
step S201: and taking the RSSI of all target Bluetooth devices received by the user side at the target position as an input parameter of a first regression model to obtain the abscissa of the target position.
Step S202: and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
Specifically, the movement track of the user side is determined, the position coordinates of each target position forming the movement track need to be determined firstly, and according to the method, the influence of influence factors such as unstable Bluetooth signals or complex target area environment on positioning is reduced by respectively calculating the horizontal coordinates and the vertical coordinates in the position coordinates of each target position, so that the robustness of position positioning is improved.
It should be noted that the user side carries a sensor for collecting bluetooth signals, and is configured to receive signals sent by the bluetooth device, determine the strength RSSI of the received bluetooth signals, and set up an http (Hypertext Transfer Protocol) service through a flash for the RSSI of all target bluetooth devices received by the user side, and receive the RSSI of all target bluetooth devices collected by the user side through the http service.
In a possible implementation, fig. 2 shows a flowchart of another track error correction method provided in the first embodiment of the present application, and as shown in fig. 2, the track error correction method further includes the following steps:
step S301: and screening the RSSI of the first Bluetooth device carrying a specified identifier from the RSSI of at least one Bluetooth device received by the user side at the target position, wherein the specified identifier is used for indicating that the Bluetooth device is located in the target area.
Step S302: and judging whether the RSSI of the first Bluetooth device comprises the RSSIs of all the second Bluetooth devices arranged in the target area.
Step S303: if the RSSI of all the second Bluetooth devices is not included, setting the RSSI value of a third Bluetooth device as a preset value, and taking the RSSI of the first Bluetooth device and the RSSI of the third Bluetooth device as the RSSI of the target Bluetooth device, wherein the third Bluetooth device is other Bluetooth devices except the first Bluetooth device in all the first Bluetooth devices.
Specifically, the ue may receive the RSSI of the bluetooth device outside the target area at the target location, for example, the target area is the second floor of the building, at least one bluetooth device is disposed on the second floor of the building, but when the ue moves along the second floor of the building, the ue may receive the RSSI of the bluetooth device disposed on the third floor of the building or the first floor of the building; in order to avoid the above-mentioned situation affecting the accuracy of position location, it is necessary to set a specific identifier for the bluetooth device set in the target area, so as to screen the RSSI of the first Bluetooth device carrying the designated identification from the RSSI of at least one Bluetooth device received when the user terminal is positioned at the target position, if the user terminal receives the RSSIs of all Bluetooth devices arranged in the target area, the screened RSSI of the first Bluetooth device comprises the RSSIs of all second Bluetooth devices, if the screened RSSI of the first Bluetooth device does not comprise the RSSI of all the second Bluetooth devices, which indicates that the information sent by part of the Bluetooth devices arranged in the target area is not received by the user terminal, the situation is considered as the reason for the too far distance, therefore, the RSSI of the third bluetooth device except the first bluetooth device in all the first bluetooth devices is assigned, and the preset value may be a negative number; at this time, the RSSI of all the bluetooth devices set in the target area received by the user terminal at the target location can be obtained, so that the RSSI of all the bluetooth devices set in the target area received by the user terminal at the target location is used as the RSSI of all the target bluetooth devices received by the user terminal at the target location.
It should be noted that the form of the specific identifier may be set according to an actual situation, for example, a uniform number form is set, and the form of the specific identifier may be set according to the actual situation, which is not specifically limited herein.
In a possible embodiment, the track error correction method further comprises the following steps:
step S401: normalizing a first data set to obtain a first regression equation as the first regression model after the normalization, wherein the first data set includes the RSSIs of all target bluetooth devices received by a target device at least one first designated location in the target area, the abscissa of each first designated location, and the lan address of each target bluetooth device, and the target device is a device moving in the target area.
Step S402: and normalizing a second data set to obtain a second regression equation as the second regression model, wherein the second data set comprises the RSSIs of all target Bluetooth devices received by the target device at least one second specified position in the target area, the ordinate of each second specified position and the local area network addresses of the target Bluetooth devices.
Specifically, before determining the abscissa and the ordinate of the target position, a first regression model for determining the abscissa of the target position and a second regression model for determining the ordinate of the target position need to be established; in the process of establishing the first regression model and the second regression model, the target device refers to a device moving in a target area and carrying a bluetooth acquisition sensor.
It should be noted that, in the process of acquiring the first data set or the second data set, the target device may receive the RSSI of the other bluetooth devices except the target bluetooth device at the designated location, so that the RSSI of at least one bluetooth device received by the target device needs to be preprocessed at each designated location, and for the specific description of the preprocessing manner, reference is made to the description of step S301 to step S303, and details are not repeated here.
It should be noted that, the processing manner of the normalization processing may be set according to actual situations, for example, XGBoost (Gradient Boosting decision tree) may be used to perform the normalization processing on the first data set or the second data set, and the specific processing manner of the normalization processing is not specifically limited herein.
In one possible embodiment, the target area is located indoors.
Specifically, in general, the bluetooth device is disposed inside a building, that is: indoor; the selected target area is also located inside the building, i.e.: and (4) indoor.
In a possible embodiment, after step S103, the track error correction method further includes:
and displaying a target moving track, wherein the target moving track is formed by positions which are not removed on the moving track.
Specifically, after at least one inaccurate target position on the movement track is removed, an accurate target movement track can be formed by the positions on the movement track which are not removed, and the target movement track is displayed.
The method for forming the target movement track may be set according to actual conditions, for example, a smooth curve may be used to connect each position on the movement track that is not eliminated to obtain the target movement track, and the specific configuration is not limited herein.
It should be noted that the display mode of the target movement track may be set according to actual situations, for example, the target movement track may be drawn on a map of the target area, and the specific display mode is not specifically limited herein.
Example two
Fig. 3 is a schematic structural diagram of a track error correction apparatus according to a second embodiment of the present application, and as shown in fig. 3, the track error correction apparatus includes:
a calculating module 501, configured to calculate, for each target bluetooth device disposed in a target area, a difference between a first target distance and a second target distance, where the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a moving track generated when the user side moves in the target area can be used as the target position;
a first determining module 502, configured to determine whether a ratio of a target difference value in each difference value is greater than a preset ratio, where the target difference value is a difference value greater than a preset threshold;
and an error correction module 503, configured to remove the target position from the moving track if the target position is greater than the preset percentage.
In a possible embodiment, the calculating module 501 is configured to, before being configured to calculate the difference between the first target distance and the second target distance, further:
the RSSI of all target Bluetooth equipment received by the user side at the target position is used as an input parameter of a first regression model, and the abscissa of the target position is obtained;
and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
In a possible embodiment, the track error correction device further comprises:
the screening module is used for screening the RSSI of the first Bluetooth device carrying a specified identifier from the RSSI of at least one Bluetooth device received by the user side at the target position, wherein the specified identifier is used for indicating that the Bluetooth device is located in the target area;
the second judging module is used for judging whether the RSSI of the first Bluetooth device comprises the RSSIs of all the second Bluetooth devices arranged in the target area;
and the setting module is used for setting the RSSI value of the third Bluetooth device as a preset value if the RSSI of all the second Bluetooth devices is not included, so as to take the RSSI of the first Bluetooth device and the RSSI of the third Bluetooth device as the RSSI of the target Bluetooth device, wherein the third Bluetooth device is other Bluetooth devices except the first Bluetooth device in all the first Bluetooth devices.
In a possible embodiment, the track error correction device further comprises:
a first processing module, configured to perform normalization processing on a first data set, so as to obtain a first regression equation as the first regression model after the normalization processing, where the first data set includes RSSIs of all target bluetooth devices received by a target device at least one first specified location in the target area, abscissa of each first specified location, and a local area network address of each target bluetooth device, where the target device is a device that moves in the target area;
the second processing module is configured to perform normalization processing on a second data set, so as to obtain a second regression equation as the second regression model after the normalization processing, where the second data set includes the RSSIs of all target bluetooth devices received by the target device at least one second designated location in the target area, the ordinate of each second designated location, and the lan address of each target bluetooth device.
In one possible embodiment, the target area is located indoors.
In a possible embodiment, the configuration of the error correction module 503 is further configured to display a target moving track after the target position is removed from the moving track, wherein the target moving track is formed by the positions on the moving track that are not removed.
The apparatus provided in the embodiments of the present application may be specific hardware on a device, or software or firmware installed on a device, etc. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The track error correction method provided by the embodiment of the application takes each position on a moving track as a target position, in order to determine the accuracy of the moving track in a target area, at least one target bluetooth device is arranged in the target area, for each target bluetooth device arranged in the target area, a first target distance between the target position on the moving track and the target bluetooth device is calculated according to the position coordinates of the target position and the position coordinates of the target bluetooth device, then a second target distance between the theoretical target position and the target bluetooth device is calculated according to the received signal strength indication RSSI of the target bluetooth device received by a user terminal at the target position, after the theoretical second target distance and the actual first target distance are calculated, a difference value between the first target distance and the second target distance is calculated, for the target bluetooth device, if the difference is greater than the preset threshold, it indicates that the position coordinate of the target position is inaccurate for the target bluetooth device, and for all target bluetooth devices, if the ratio of the target difference greater than the preset threshold in each difference is greater than the preset ratio, it indicates that the inaccuracy degree of the target position on the determined movement track is higher, which affects the accuracy of the movement track, so that the target position needs to be removed from the movement track to achieve the purpose of correcting the movement track.
EXAMPLE III
Fig. 4 shows a schematic structural diagram of a computer device provided in a third embodiment of the present application, and as shown in fig. 4, the device includes a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602, where the processor 602 implements the trajectory error correction method when executing the computer program.
Specifically, the memory 601 and the processor 602 can be general memories and processors, which are not limited in this respect, and when the processor 602 runs a computer program stored in the memory 601, the trajectory error correction method can be executed, so as to solve the problem in the prior art that an inaccurate position may exist on the movement trajectory of the target object, which is determined by the prior art, due to abnormal positioning.
Example four
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the above-mentioned track error correction method.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and when a computer program on the storage medium is executed, the above-mentioned trajectory error correction method can be executed, so that the problem that an inaccurate position generated due to abnormal positioning may exist on the movement trajectory of the target object determined in the prior art is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to 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 (10)
1. A method of track error correction, the method comprising:
calculating a difference value between a first target distance and a second target distance for each target Bluetooth device arranged in a target area, wherein the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a moving track generated when the user side moves in the target area can be used as the target position;
judging whether the ratio of a target difference value in each difference value is greater than a preset ratio, wherein the target difference value is a difference value greater than a preset threshold value;
and if the target position is larger than the preset occupation ratio, removing the target position from the moving track.
2. The method of claim 1, wherein prior to said calculating the difference between the first target distance and the second target distance, the method further comprises:
the RSSI of all target Bluetooth equipment received by the user side at the target position is used as an input parameter of a first regression model, and the abscissa of the target position is obtained;
and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
3. The method of claim 2, wherein the method further comprises:
screening the RSSI of a first Bluetooth device carrying a specified identifier from the RSSI of at least one Bluetooth device received by the user side at the target position, wherein the specified identifier is used for indicating that the Bluetooth device is located in the target area;
judging whether the RSSI of the first Bluetooth device comprises the RSSI of all second Bluetooth devices arranged in the target area;
if the RSSI of all the second Bluetooth devices is not included, setting the RSSI value of a third Bluetooth device as a preset value, and taking the RSSI of the first Bluetooth device and the RSSI of the third Bluetooth device as the RSSI of the target Bluetooth device, wherein the third Bluetooth device is other Bluetooth devices except the first Bluetooth device in all the first Bluetooth devices.
4. The method of claim 2, wherein the method further comprises:
normalizing a first data set to obtain a first regression equation as the first regression model after the normalization, wherein the first data set comprises the RSSIs of all target Bluetooth devices received by a target device at least one first specified position in the target area, the abscissa of each first specified position and the local area network addresses of each target Bluetooth device, and the target device is a device moving in the target area;
and normalizing a second data set to obtain a second regression equation as the second regression model, wherein the second data set comprises the RSSIs of all target Bluetooth devices received by the target device at least one second specified position in the target area, the ordinate of each second specified position and the local area network addresses of the target Bluetooth devices.
5. The method of claim 1, wherein the target area is located indoors.
6. The method of claim 1, wherein after said removing said target location from said movement trajectory, said method further comprises:
and displaying a target moving track, wherein the target moving track is formed by positions which are not removed on the moving track.
7. A track correction apparatus, characterized in that the apparatus comprises:
a calculating module, configured to calculate, for each target bluetooth device disposed in a target area, a difference between a first target distance and a second target distance, where the first target distance is: calculating the distance between the target position and the target Bluetooth equipment according to the position coordinate of the target position and the position coordinate of the target Bluetooth equipment; the second target distance is: calculating the distance between the target position and the target Bluetooth device according to the Received Signal Strength Indication (RSSI) of the target Bluetooth device received by the user terminal at the target position; any position on a moving track generated when the user side moves in the target area can be used as the target position;
the first judgment module is used for judging whether the occupation ratio of a target difference value in each difference value is greater than a preset occupation ratio or not, wherein the target difference value is a difference value greater than a preset threshold value;
and the error correction module is used for removing the target position from the moving track if the target position is larger than the preset occupation ratio.
8. The apparatus of claim 7, wherein the computing module, prior to being configured to compute the difference between the first target distance and the second target distance, is further configured to:
the RSSI of all target Bluetooth equipment received by the user side at the target position is used as an input parameter of a first regression model, and the abscissa of the target position is obtained;
and taking the RSSI of all target Bluetooth equipment received by the user side at the target position as an input parameter of a second regression model to obtain the ordinate of the target position.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of the preceding claims 1-6 are implemented by the processor when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the method of any one of the preceding claims 1 to 6.
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