CN113242514A - Bluetooth positioning method and device - Google Patents
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- 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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
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- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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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Abstract
The invention relates to a Bluetooth positioning method and device, which are characterized in that after induction data received in a preset time period are obtained, Bluetooth beacon equipment with induction signal intensity larger than a set intensity threshold value is determined to serve as selected Bluetooth beacon equipment, and positioning points in the preset time period are determined according to unique marks of position points corresponding to the unique marks of the selected Bluetooth beacon equipment. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
Description
Technical Field
The present invention relates to the field of bluetooth technologies, and in particular, to a bluetooth positioning method and apparatus.
Background
Positioning refers to a technical means for acquiring the current position information of a target in a sound-light and radio manner. Common positioning technologies include an ultrasonic positioning technology, a laser positioning technology, a GNSS (Global Navigation Satellite System) positioning technology, a WIFI positioning technology, a bluetooth positioning technology, a UWB (ultra wide Band) positioning technology, and the like. Compared with a WIFI positioning technology or a UWB positioning technology and the like, the Bluetooth positioning technology does not need expensive expenses such as base station construction and the like, and is widely applied to the field of indoor positioning with cost advantages and effect advantages.
The traditional Bluetooth indoor positioning technology is mainly characterized in that Bluetooth beacon equipment is deployed at each position point in advance according to project requirements, and each Bluetooth beacon equipment is marked and distinguished through a unique mark. And then, storing the mapping relation between the unique mark of each position point and the unique mark of the corresponding deployed Bluetooth beacon device on the server. The position of the user terminal is determined by sensing the unique mark and the sensing signal strength of each Bluetooth beacon device through the user terminal, and indoor positioning is realized. However, because of the instability of the broadcast of the bluetooth signal, the conventional bluetooth indoor positioning calculation method is susceptible to influence, and thus the positioning accuracy is affected.
Disclosure of Invention
Therefore, it is necessary to provide a bluetooth positioning method and apparatus for overcoming the defects that the broadcast of the bluetooth signal is unstable, the conventional bluetooth indoor positioning calculation method is easily affected, and the positioning accuracy is further affected.
A Bluetooth positioning method comprises the following steps:
acquiring induction data received in a preset time period; the induction data comprises the sensed unique mark of the Bluetooth beacon device and the induction signal intensity of each Bluetooth beacon device;
determining the Bluetooth beacon equipment with the induction signal intensity larger than a set intensity threshold value as the selected Bluetooth beacon equipment;
and determining the positioning point in the preset time period according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device.
According to the Bluetooth positioning method, after the induction data received in the preset time period are obtained, the Bluetooth beacon device with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon device, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
In one embodiment, before the process of determining the bluetooth beacon device whose sensing signal strength is greater than the set strength threshold, the method further includes the following steps:
acquiring near field data of the induction data to obtain original near field data;
obtaining far-field data according to a first mathematical transformation result of the original near-field data;
obtaining updated near-field data according to a second mathematical transformation result of the far-field data; wherein the second mathematical transform is an inverse of the first mathematical transform;
and restoring and updating the induction data according to the updated near field data.
In one embodiment, the process of obtaining near field data of inductive data comprises the steps of:
substituting the induction data into a pre-trained near field data model to obtain near field data; the near field data model comprises a mapping relation between induction data and near field data;
the process of restoring and updating the sensing data according to the updated near field data includes the steps of:
and substituting the updated near-field data into the near-field data model, and restoring and updating the induction data.
In one embodiment, the first mathematical transform is an inverse fast fourier transform and the second data transform is an inverse fast fourier transform.
In one embodiment, the process of determining a bluetooth beacon device with an inductive signal strength greater than a set strength threshold includes the steps of:
and adjusting the set intensity threshold value so that the Bluetooth beacon equipment with the induction signal intensity greater than the set intensity threshold value is the Bluetooth beacon equipment with the maximum induction signal intensity.
In one embodiment, the predetermined time period is 0.8s to 1.2 s.
In one embodiment, the preset time period is 1 s.
A bluetooth positioning apparatus, comprising:
the data acquisition module is used for acquiring the induction data received in a preset time period; the induction data comprises the sensed unique mark of the Bluetooth beacon device and the induction signal intensity of each Bluetooth beacon device;
the intensity comparison module is used for determining the Bluetooth beacon equipment with the induction signal intensity larger than the set intensity threshold value as the selected Bluetooth beacon equipment;
and the position determining module is used for determining the positioning point in the preset time period according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device.
After the Bluetooth positioning device obtains the induction data received in the preset time period, the Bluetooth beacon equipment with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon equipment, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon equipment. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
A computer storage medium having stored thereon computer instructions which, when executed by a processor, implement the bluetooth positioning method of any of the above embodiments.
After the computer storage medium obtains the induction data received in the preset time period, the Bluetooth beacon device with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon device, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the bluetooth positioning method of any of the above embodiments when executing the program.
After the computer device obtains the induction data received in the preset time period, the Bluetooth beacon device with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon device, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
Drawings
Fig. 1 is a schematic diagram of positioning based on a bluetooth beacon device;
FIG. 2 is a flowchart of a Bluetooth positioning method according to an embodiment;
FIG. 3 is a flowchart of a Bluetooth positioning method according to another embodiment;
FIG. 4 is a flowchart of a Bluetooth positioning method according to another embodiment;
FIG. 5 is a flowchart of a Bluetooth positioning method according to yet another embodiment;
FIG. 6 is a block diagram of a Bluetooth enabled device in accordance with one embodiment;
FIG. 7 is a schematic diagram of an internal structure of a computer according to an embodiment.
Detailed Description
For better understanding of the objects, technical solutions and effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and examples. Meanwhile, the following described examples are only for explaining the present invention, and are not intended to limit the present invention.
Fig. 1 is a schematic diagram of positioning based on bluetooth Beacon devices, and as shown in fig. 1, when a plurality of Beacon signal transmitting base stations are installed indoors, each base station creates a signal broadcasting area. When a user carries the mobile device to enter a signal broadcasting area, the mobile device receives the sensing signals of all the base stations to obtain sensing data. The positioning accuracy of the mobile device is susceptible to instability in the broadcast of the base station signal. Based on this, the embodiment of the invention provides a Bluetooth positioning method.
Fig. 2 is a flowchart of a bluetooth positioning method according to an embodiment, and as shown in fig. 2, the bluetooth positioning method according to an embodiment includes steps S100 to S102:
s100, acquiring induction data received in a preset time period; the induction data comprises the sensed unique mark of the Bluetooth beacon device and the induction signal intensity of each Bluetooth beacon device;
s101, determining the Bluetooth beacon equipment with the induction signal intensity larger than a set intensity threshold value as selected Bluetooth beacon equipment;
and S102, determining the positioning point in the preset time period according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device.
The implementation subject of the bluetooth positioning method of an embodiment includes any terminal, device or server capable of directly receiving or indirectly receiving the bluetooth beacon broadcast data packet. As a preferred embodiment, the implementation subject includes a personal mobile terminal such as a smart phone, a smart tablet, and the like.
The unique identification of the location point may be stored in the implementation body or in a third-party storage medium. The implementation subject can acquire the unique mark of the position point stored in the third-party storage medium through data interaction with the third-party storage medium. The storage main body of the unique mark of the position point further stores the corresponding relation between the unique mark of the Bluetooth beacon device and the unique mark of the position point where the Bluetooth beacon device is located, and the corresponding unique mark of the position point is determined according to the corresponding relation. It should be noted that the location point refers to an installation location of the bluetooth beacon device, the unique identifier of the location point refers to that the identifier represents the location point, and the identifiers of each location point are different, so that the identifier of the location point is unique.
The setting of the intensity threshold in step S101 may be determined according to bluetooth beacon devices in different application environments, so as to screen a plurality of sensed bluetooth beacon devices. For example, in a default normal environment, it is determined from historical empirical data that 5 bluetooth beacon devices can be sensed. And the strength threshold is set to ensure that the selected Bluetooth beacon device is only a part of 5 Bluetooth beacon devices, including 2 or 1, etc. It is noted that setting the intensity threshold includes a fixed threshold or a dynamic threshold. Based on the fact that the dynamic threshold is adaptively adjusted according to different bluetooth beacon devices, in one embodiment, fig. 3 is a flowchart of a bluetooth positioning method according to another embodiment, as shown in fig. 3, a process of determining a bluetooth beacon device whose sensing signal intensity is greater than a set intensity threshold in step S101 includes step S200:
s200, adjusting the set intensity threshold value so that the Bluetooth beacon device with the induction signal intensity greater than the set intensity threshold value is the Bluetooth beacon device with the maximum induction signal intensity.
In one embodiment, the set intensity threshold is adjusted in an iterative calculation mode, the set intensity threshold is compared with the induction signal intensity of each bluetooth beacon device, and the set intensity threshold is updated iteratively until the set intensity threshold is only smaller than the induction signal intensity of the selected bluetooth beacon device.
In one embodiment, the set intensity threshold is determined by the sensed signal intensity of the bluetooth beacon device. And setting the intensity threshold as the induction signal intensity of the Bluetooth beacon equipment which is only smaller than the induction signal intensity of the selected Bluetooth beacon equipment. Based on this, the selected Bluetooth beacon equipment can be determined through comparison of the induction signal intensity of each Bluetooth beacon equipment.
In one embodiment, fig. 4 is a flowchart of a bluetooth positioning method according to yet another embodiment, and as shown in fig. 4, before the process of determining the bluetooth beacon device with the sensing signal strength greater than the set strength threshold in step S101, steps S300 to S303 are further included:
s300, acquiring near field data of the induction data to obtain original near field data;
s301, obtaining far field data according to a first mathematical transformation result of the original near field data;
s302, obtaining updated near field data according to a second mathematical transformation result of the far field data; wherein the second mathematical transform is an inverse of the first mathematical transform;
and S303, restoring and updating the induction data according to the updated near field data.
The sensing signals in the sensing data are output results of Bluetooth broadcasting, and the original near field data are used for representing the signal broadcasting electromagnetic wave near field distribution condition of the Bluetooth beacon equipment. Determining far field distribution conditions through first mathematical transformation, executing one near-far field transformation and one far-near field transformation to obtain updated near-field data, and inverting the updated near-field data to obtain new induction data to replace original induction data.
In one embodiment, the first mathematical transform and the second mathematical transform may employ a fourier transform. As a preferred embodiment, the first mathematical transform is an inverse fast fourier transform and the second data transform is an inverse fast fourier transform.
In one embodiment, fig. 5 is a flowchart of a bluetooth positioning method according to yet another embodiment, and as shown in fig. 5, the process of acquiring the near field data of the sensing data in step S300 includes step S400:
s400, substituting the induction data into a pre-trained near field data model to obtain near field data; the near field data model comprises a mapping relation between induction data and near field data;
when the preset time period is less than a certain time period, the complete near-field data cannot be determined by the obtained sampling point of the induction data. Based on the method, the near field data is determined by a pre-trained near field data model through the mapping relation between the induction data and the near field data. In one embodiment, the mapping relationship comprises a mapping relationship between induction signal strength in the induction data and near field data, and the near field data determined a priori is obtained according to the induction signal strength.
Similarly, in one embodiment, as shown in fig. 5, the process of restoring and updating the sensing data according to the updated near field data in step S303 includes step S401:
s401, substituting the updated near field data into the near field data model, and restoring and updating the induction data.
And restoring and updating the induction data through the inversion of the mapping relation.
In one embodiment, the predetermined time period is 0.8s to 1.2 s. As a preferred embodiment, the preset time period is 1 s. Based on this, the anchor point within 1s is determined.
In step S102, a process of determining a location point within a preset time period according to the unique location point mark corresponding to the unique mark of the selected bluetooth beacon device is performed, and when the selected bluetooth beacon device is unique, the unique location point mark corresponding to the unique mark is used as the location point within the preset time period. When the number of the selected bluetooth beacon devices is greater than or equal to 2, as shown in fig. 3, the process of determining the anchor point within the preset time period according to the unique location point mark corresponding to the unique mark of the selected bluetooth beacon device in step S102 includes steps S201 and S202:
s201, determining the positioning weight of the unique mark of each position point;
s202, determining the position point with the maximum positioning weight as the positioning point in the preset time period.
The method comprises the steps of determining the total number of induction data received in a preset time period according to induction data, and further calculating the average induction intensity under the unique mark of each position point and the total number of data under the unique mark of each position point in the preset time period. And finally, calculating the positioning weight of the unique mark of each position point according to the total number of the data received in the preset time period, the correction parameters, the average induction intensity under the unique mark of each position point in the preset time period and the total number of the induction data under the unique mark of each position point.
In one embodiment, the process of obtaining the correction parameters includes the following steps S1 to S3:
s1, acquiring prior data received in a prior time period; wherein the a priori data comprises a plurality of sensing signal strengths;
s2, carrying out grouping statistics on the strength of each induction signal according to the strength of the induction signal, and counting the quantity of each induction signal strength;
and S3, taking the induction signal intensity with the largest quantity as a correction parameter.
In one embodiment, the a priori period is greater than or equal to 1 d.
In one embodiment, the positioning weight uniquely identified for each position point is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
wherein N is a correction parameter; the RSSI _ AVG is the average induction intensity under the unique mark of the position point; NUM is the total number of data which are uniquely marked at each position point in a preset time period; total _ num is the total number of the sensing data received by the user terminal in a preset time period.
As a preferred embodiment, the initial default value for the correction parameter is 85.
In the bluetooth positioning method according to any of the embodiments, after the sensing data received within the preset time period is acquired, the bluetooth beacon device whose sensing signal intensity is greater than the set intensity threshold is determined as the selected bluetooth beacon device, and the positioning point within the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected bluetooth beacon device. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
The embodiment of the invention also provides a Bluetooth positioning device.
Fig. 6 is a block diagram of a bluetooth positioning apparatus according to an embodiment, and as shown in fig. 6, the bluetooth positioning apparatus according to an embodiment includes a module 100, a module 101, and a module 102:
the data acquisition module 100 is configured to acquire sensing data received within a preset time period; the induction data comprises the sensed unique mark of the Bluetooth beacon device and the induction signal intensity of each Bluetooth beacon device;
the intensity comparison module 101 is used for determining the bluetooth beacon device with the sensing signal intensity greater than the set intensity threshold value as the selected bluetooth beacon device;
and the position determining module 102 is configured to determine a positioning point within a preset time period according to the unique position point mark corresponding to the unique mark of the selected bluetooth beacon device.
After the Bluetooth positioning device obtains the induction data received in the preset time period, the Bluetooth beacon equipment with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon equipment, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon equipment. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
The embodiment of the invention also provides a computer storage medium, on which computer instructions are stored, and the instructions are executed by a processor to implement the bluetooth positioning method of any one of the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a RAM, a ROM, a magnetic or optical disk, or various other media that can store program code.
Corresponding to the computer storage medium, in one embodiment, there is also provided a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the bluetooth positioning methods in the embodiments.
The computer device may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a bluetooth positioning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
After the computer device obtains the induction data received in the preset time period, the Bluetooth beacon device with the induction signal intensity larger than the set intensity threshold value is determined to serve as the selected Bluetooth beacon device, and the positioning point in the preset time period is determined according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device. Based on this, through screening bluetooth beacon equipment through the sensing signal intensity in each bluetooth beacon equipment, guarantee to select the signal stability of bluetooth beacon equipment, through the only mark of the only corresponding position point of marking of the bluetooth beacon equipment that the signal is stable marks, confirm the setpoint in the predetermined time quantum, guarantee the accuracy of bluetooth location.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A Bluetooth positioning method, comprising the steps of:
acquiring induction data received in a preset time period; the induction data comprise an induced unique mark of the Bluetooth beacon device and induction signal intensity of each Bluetooth beacon device;
determining the Bluetooth beacon equipment with the induction signal intensity larger than a set intensity threshold value as the selected Bluetooth beacon equipment;
and determining the positioning point in the preset time period according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device.
2. The bluetooth positioning method according to claim 1, wherein before the process of determining the bluetooth beacon device whose sensing signal strength is greater than the set strength threshold, further comprising the steps of:
acquiring near field data of the induction data to obtain original near field data;
obtaining far-field data according to a first mathematical transformation result of the original near-field data;
obtaining updated near-field data according to a second mathematical transformation result of the far-field data; wherein the second mathematical transform is an inverse of the first mathematical transform;
and restoring and updating the induction data according to the updated near field data.
3. The bluetooth positioning method according to claim 2, wherein the process of acquiring the near field data of the sensing data comprises the steps of:
substituting the induction data into a pre-trained near field data model to obtain the near field data; the near field data model comprises a mapping relation between induction data and near field data;
the process of restoring and updating the sensing data according to the updated near field data comprises the following steps:
and substituting the updated near-field data into the near-field data model, and restoring and updating the induction data.
4. The bluetooth positioning method according to claim 2, characterized in that the first mathematical transformation is a fast fourier transformation and the second data transformation is an inverse fast fourier transformation.
5. The bluetooth positioning method according to claim 1, wherein the process of determining the bluetooth beacon device whose sensing signal strength is greater than the set strength threshold comprises the steps of:
and adjusting the set intensity threshold value so that the Bluetooth beacon equipment with the induction signal intensity greater than the set intensity threshold value is the Bluetooth beacon equipment with the maximum induction signal intensity.
6. The bluetooth positioning method according to any of claims 1 to 5, wherein the preset time period is 0.8s to 1.2 s.
7. The bluetooth positioning method according to any of claims 1 to 5, wherein the preset time period is 1 s.
8. A bluetooth positioning apparatus, comprising:
the data acquisition module is used for acquiring the induction data received in a preset time period; the induction data comprise an induced unique mark of the Bluetooth beacon device and induction signal intensity of each Bluetooth beacon device;
the intensity comparison module is used for determining the Bluetooth beacon equipment with the induction signal intensity larger than the set intensity threshold value as the selected Bluetooth beacon equipment;
and the position determining module is used for determining the positioning point in the preset time period according to the unique mark of the position point corresponding to the unique mark of the selected Bluetooth beacon device.
9. A computer storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the bluetooth positioning method of any one of claims 1 to 7.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the bluetooth positioning method according to any one of claims 1 to 7.
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| CN111447581A (en) * | 2020-03-24 | 2020-07-24 | 广州启盟信息科技有限公司 | Indoor positioning method based on Bluetooth beacon equipment |
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Application publication date: 20210810 |