CN113411743B - Terminal positioning method and device and terminal - Google Patents
Terminal positioning method and device and terminal Download PDFInfo
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- CN113411743B CN113411743B CN202110674834.0A CN202110674834A CN113411743B CN 113411743 B CN113411743 B CN 113411743B CN 202110674834 A CN202110674834 A CN 202110674834A CN 113411743 B CN113411743 B CN 113411743B
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The embodiment of the invention provides a terminal positioning method, a device and a terminal, which can receive broadcast data of each beacon and acquire an identifier and received signal strength of each beacon according to each broadcast data; selecting a target beacon by using the received signal strength of each beacon, wherein the target beacon is as follows: receiving a beacon corresponding to the maximum value in the signal strength; acquiring coordinate information of the target beacon through the identification of the target beacon; monitoring an azimuth angle and three-axis acceleration of the terminal in the moving process, and calculating the moving step length of the terminal by using the three-axis acceleration; and updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information. By applying the scheme provided by the embodiment of the invention, the positioning precision can be improved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a terminal positioning method, an apparatus, and a terminal.
Background
The existing terminal positioning mode mainly depends on technologies such as Bluetooth and wifi, a plurality of Bluetooth beacons or wifi beacons are arranged in a positioning area, after the terminal moves into the positioning area, the terminal scans the beacon to send out a signal to obtain received signal strength, and the distance between the terminal and the beacon is estimated through the received signal strength, so that positioning is carried out.
The positioning method based on the received signal strength has a problem that when the distance is converted by using the received signal strength, an error of converting the received signal strength into the distance increases with the increase of the distance, for example, after the actual distance between the terminal and the beacon is greater than 4 meters, the error of the positioning distance can reach 5 meters. Therefore, positioning techniques based on received signal strength are only suitable for close range detection.
Disclosure of Invention
The embodiment of the invention aims to provide a terminal positioning method, a terminal positioning device and a terminal, so as to realize positioning precision. The specific technical scheme is as follows:
in one aspect of the present invention, a method for positioning a terminal is provided, where the method includes:
receiving broadcast data of each beacon, and acquiring the identifier and the received signal strength of each beacon according to each broadcast data;
selecting a target beacon by using the received signal strength of each beacon, wherein the target beacon is as follows: receiving a beacon corresponding to the maximum value in the signal strength;
acquiring coordinate information of the target beacon through the identification of the target beacon;
monitoring an azimuth angle and three-axis acceleration of the terminal in the moving process, and calculating the moving step length of the terminal by using the three-axis acceleration;
and updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information.
Optionally, the step of selecting a target beacon by using the received signal strength of each beacon includes:
calculating the average value of the received signal strength of each beacon in a preset time period according to the received signal strength of each beacon to obtain the average received signal strength;
determining a maximum value of each of the average received signal strengths;
and taking the beacon corresponding to the maximum value as a target beacon.
Optionally, the broadcast data further includes: signal strength at 1 meter distance from the beacon; wherein the method further comprises:
and under the condition that the maximum value is smaller than a preset threshold value, calculating the positioning accuracy by using the following expression:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at a distance of 1 meter from the beacon; n represents an environmental attenuation factor; abs () represents an absolute value taking function; fix represents a precision factor; in an implementation, the value of fix may be 0.5.
And when the updated coordinate information is used for positioning, sending prompt information with an error value of the positioning precision to a client for prompting that the client has an error in positioning.
Optionally, the step of calculating a moving step of the terminal by using the triaxial acceleration includes:
carrying out square summation operation on the three-axis acceleration monitored in the terminal moving process to obtain a sequence N;
calculating a moving step size of the terminal using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent troughs in the sequence N, H represents a difference between respective peak-to-trough values included in the sequence N, and a, b, and c represent conversion coefficients. In an implementation, a may be 0.371, b may be 0.000161, and c may be 0.164.
Optionally, the step of updating the coordinate information according to the azimuth angle and the moving step includes:
calculating the average value of the azimuth angles monitored by the terminal in the moving process to obtain an angle average value;
calculating coordinate increment according to the moving step length and the angle mean value;
updating the coordinate information with the coordinate increment.
In another aspect of the present invention, there is also provided a terminal positioning apparatus, including:
the receiving module is used for receiving broadcast data of each beacon and acquiring the identifier and the received signal strength of each beacon according to each broadcast data;
a selecting module, connected to the receiving module and the obtaining module, configured to select a target beacon by using the received signal strength of each beacon, where the target beacon is: receiving a beacon corresponding to the maximum value in the signal strength;
the acquisition module is connected with the selection module and the monitoring module and is used for acquiring the coordinate information of the target beacon through the identification of the target beacon;
the monitoring module is connected with the acquisition module and the positioning module and is used for monitoring an azimuth angle and triaxial acceleration of the terminal in the moving process and calculating the moving step length of the terminal by using the triaxial acceleration;
and the positioning module is connected with the monitoring module and used for updating the coordinate information according to the azimuth angle and the moving step length and positioning by using the updated coordinate information.
Optionally, the selecting module includes:
the first calculating unit is connected with the receiving module and the determining unit and used for calculating the average value of the received signal strength in a preset time period aiming at the received signal strength of each beacon to obtain the average received signal strength;
the determining unit is connected with the first calculating unit and the selecting unit and is used for determining the maximum value in the average received signal strength;
and the selecting unit is connected with the determining unit and the acquiring module and is used for taking the beacon corresponding to the maximum value as a target beacon.
Optionally, the broadcast data further includes: signal strength at 1 meter distance from the beacon; wherein the apparatus further comprises:
the calculation module is connected with the selection module and the positioning module and used for calculating the positioning accuracy by using the following expression under the condition that the maximum value is smaller than a preset threshold value:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at 1 meter intervals of the beacons; n represents an environmental attenuation factor; abs () represents an absolute value function; fix represents a precision factor;
and the positioning module is further used for sending prompt information with an error value of the positioning precision to a client when positioning is carried out by using the updated coordinate information, and is used for prompting that the client has an error in positioning.
Optionally, the monitoring module includes:
the second calculation unit is connected with the acquisition module and the third calculation unit and is used for performing square summation operation on the triaxial acceleration monitored in the terminal moving process to obtain a sequence N;
the third calculating unit is connected with the second calculating unit and the positioning module and is used for calculating the moving step length of the terminal by using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent troughs in the sequence N, H represents a difference between respective peak-to-trough values included in the sequence N, and a, b, and c represent conversion coefficients.
Optionally, the positioning module is further used for
Calculating the average value of the azimuth angles monitored by the terminal in the moving process to obtain an angle average value;
calculating coordinate increment according to the moving step length and the angle mean value;
updating the coordinate information with the coordinate increment.
In another aspect of the present invention, a terminal is further provided, which includes a processor, a communication interface, a memory and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;
a memory for storing processor-executable instructions;
and the processor is used for realizing the terminal positioning method when the instruction stored in the memory is executed.
The terminal positioning method, the device and the terminal provided by the embodiment of the invention can receive the broadcast data of each beacon, and acquire the identifier and the received signal strength of each beacon according to each broadcast data; selecting a target beacon by using the received signal strength of each beacon; acquiring coordinate information of the target beacon through the identifier of the target beacon; monitoring an azimuth angle and three-axis acceleration of the terminal in the moving process, and calculating the moving step length of the terminal by using the three-axis acceleration; and updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information.
By applying the scheme provided by the embodiment of the invention, when the terminal needs to be positioned, the coordinate information of the target beacon closest to the terminal is utilized to carry out initial positioning, and when the terminal moves, the coordinate information is updated in real time through the azimuth angle and the three-axis acceleration of the terminal to carry out positioning, so that the problem of low error precision caused by the fact that the error of converting the intensity of the received signal into the distance is increased along with the increase of the distance is solved.
And the terminal scans broadcast data of surrounding beacons in real time, and then when the distance between the terminal and other beacons is smaller than that between the terminal and a target beacon, the beacon closest to the terminal is taken as the target beacon again for positioning update, so that accumulated errors caused by positioning by using an azimuth angle and triaxial acceleration are eliminated, and the positioning effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a terminal positioning method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a terminal positioning device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a terminal positioning method according to an embodiment of the present invention, where the method includes:
and S100, receiving the broadcast data of each beacon, and acquiring the identification and the received signal strength of each beacon according to each broadcast data.
In an implementation, the terminal may be: mobile devices such as mobile phones and tablet computers.
In implementation, a positioning APP may be installed in the terminal, and after the positioning APP is started, the terminal scans broadcast data broadcasted by surrounding beacons, where the broadcast data may include an identifier of each beacon, and is used for the terminal to distinguish each beacon and detect the signal strength of the received broadcast data to obtain the received signal strength of each beacon.
The beacon can be a bluetooth beacon, a wifi beacon, etc.
S110, selecting a target beacon according to the received signal strength of each beacon.
Wherein, the target beacon is: and receiving the beacon corresponding to the maximum value in the signal strength.
In implementation, the average value of the received signal strengths within a preset time period may be calculated for the received signal strength of each beacon, so as to obtain an average received signal strength;
specifically, the preset time period may be determined according to the transmission frequency of the beacon, for example, the preset time period may be 20/i, i represents the transmission frequency of the beacon, and in an implementation, the broadcast data may include the transmission frequency i. In this case, the preset time periods corresponding to different transmission frequencies of the beacons are also different, and the higher the transmission frequency is, the smaller the preset time period corresponding to the higher the transmission frequency is, the lower the preset time period corresponding to the lower the transmission frequency is, so as to ensure that the number of the broadcast data received by the terminal by each beacon is basically the same.
Determining a maximum value among the respective average received signal strengths; and taking the beacon corresponding to the maximum value as a target beacon.
In implementation, the greater the received signal strength, the closer the distance between the terminal and the beacon is, and the target beacon is the beacon closest to the terminal in the beacons scanned by the terminal.
And S120, acquiring coordinate information of the target beacon through the identification of the target beacon.
In implementation, the coordinate information and the identifier of each beacon may be stored in the positioning server in advance, accordingly, when the terminal needs to acquire the coordinate information of the target beacon, an acquisition request carrying the identifier of the target beacon may be sent to the positioning server, after the positioning server receives the acquisition request, the positioning server searches the coordinate information of the target beacon according to the identifier included in the acquisition request, and sends the searched coordinate information to the terminal, so that the terminal acquires the coordinate information of the target beacon.
S130, monitoring the azimuth angle and the three-axis acceleration of the terminal in the moving process, and calculating the moving step length of the terminal by using the three-axis acceleration.
In implementation, an Inertial Measurement Unit (IMU) may be disposed in the terminal, and during a moving process of the terminal, an azimuth angle and a three-axis acceleration of the terminal may be monitored in real time through the IMU.
In the monitoring process, the sum of squares operation can be carried out on the triaxial acceleration monitored in the terminal moving process to obtain a sequence N; and calculating the moving step length of the terminal by using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent troughs in the sequence N, H represents a difference between respective peak-to-trough values included in the sequence N, and a, b, and c represent conversion coefficients.
And S140, updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information.
In the process of updating the coordinate information, the average value of the azimuth angles monitored by the terminal in the moving process can be calculated to obtain an angle average value; specifically, the average value of the azimuth angle may be calculated once every 20/n time period, and finally, the average value obtained each time is weighted and averaged again to obtain the angular average value, where n represents the frequency of the IMU. For example, the time of the terminal moving process is 20 seconds, n is 20 hz, then, the average value of the monitoring azimuth angles in each second is calculated, and finally, the angular average value is obtained by performing weighted average on the 20 average values. By processing the data in real time, the processing speed can be improved compared with the data processing after the terminal finishes moving.
After obtaining the angular mean, the coordinate increment x1, y1 of the terminal in the geodetic coordinate system may be calculated, where x1= length sin (angle _ average), y1= length cos (angle _ average), and angle _ average represents the angular mean. After obtaining the coordinate increment, the coordinate information may be updated by using the coordinate increment, where x _ former, y _ former are coordinate information before updating, x _ new, y _ new are coordinate information after updating, and accordingly, x _ new = x _ former + x1, y _ new = y _ former + y1.
In an implementation, the broadcasting data may further include: signal strength at 1 meter distance from the beacon. In practical application, after the target beacon is determined, the distance between the target beacon and the terminal may be long, for example, greater than 5 meters, and the accuracy of the positioning result may be affected in such a case, so that a threshold value may be preset, and when the received signal strength of the target beacon is greater than the preset threshold value, it is indicated that the target beacon is close to the terminal, and the target beacon may be directly used for positioning; when the received signal strength of the target beacon is smaller than the preset threshold value, it indicates that the target beacon is far away from the terminal, and at this time, the positioning accuracy may be calculated by using the following expression:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at a distance of 1 meter from the beacon; n represents an environmental attenuation factor; abs () represents an absolute value function; fix denotes the precision factor.
After the positioning accuracy is obtained, prompt information with an error value of the positioning accuracy can be sent to the client during positioning, so as to prompt the client that the positioning has an error.
In the terminal positioning process, the terminal can load corresponding map information from the positioning server by using the updated coordinate information, switches the map by positioning the APP, and displays the map where the updated coordinate information is located in the positioning APP to complete positioning.
In an implementation, the terminal may also move in the vicinity of the target beacon all the time, for example, when the maximum value is always greater than the preset threshold value, it may be determined that the terminal moves in the vicinity of the target beacon, and in a short distance, positioning is more accurate by receiving signal strength, and in this case, positioning may be performed by directly using the received signal strength, so as to improve positioning efficiency.
By applying the scheme provided by the embodiment of the invention, when the terminal needs to be positioned, the coordinate information of the target beacon closest to the terminal is utilized to carry out initial positioning, and when the terminal moves, the coordinate information is updated in real time through the azimuth angle and the three-axis acceleration of the terminal to carry out positioning, so that the problem that the error of converting the intensity of the received signal into the distance is increased along with the increase of the distance, and the error precision is low is solved.
And the terminal scans broadcast data of surrounding beacons in real time, and then when the distance between the terminal and other beacons is smaller than that between the terminal and a target beacon, the beacon closest to the terminal is taken as the target beacon again for positioning update, so that accumulated errors caused by positioning by using an azimuth angle and triaxial acceleration are eliminated, and the positioning effect is improved.
Referring to fig. 2, a schematic structural diagram of a terminal positioning device provided in an embodiment of the present invention is shown, where the device includes:
a receiving module 200, configured to receive broadcast data of each beacon, and obtain an identifier and a received signal strength of each beacon according to the broadcast data;
a selecting module 210, connected to the receiving module 200 and the obtaining module 220, configured to select a target beacon by using the received signal strength of each beacon, where the target beacon is: receiving a beacon corresponding to the maximum value in the signal strength;
the obtaining module 220 is connected to the selecting module 210 and the monitoring module 230, and configured to obtain the coordinate information of the target beacon through the identifier of the target beacon;
the monitoring module 230 is connected to the obtaining module 220 and the positioning module 240, and configured to monitor an azimuth angle and a triaxial acceleration of the terminal in a moving process, and calculate a moving step length of the terminal by using the triaxial acceleration;
the positioning module 240 is connected to the monitoring module 230, and configured to update the coordinate information according to the azimuth angle and the moving step length, and perform positioning by using the updated coordinate information.
In an implementation manner of the embodiment of the present invention, the selecting module 210 includes:
the first calculating unit is connected with the receiving module and the determining unit and is used for calculating the average value of the received signal strength of each beacon in a preset time period according to the received signal strength of each beacon to obtain the average received signal strength;
the determining unit is connected with the first calculating unit and the selecting unit and is used for determining the maximum value in the average received signal strength;
and the selecting unit is connected with the determining unit and the obtaining module and is used for taking the beacon corresponding to the maximum value as a target beacon.
In an implementation manner of the embodiment of the present invention, the broadcast data further includes: signal strength at 1 meter distance from the beacon; wherein the apparatus further comprises:
the calculation module is connected with the selection module and the positioning module and used for calculating the positioning accuracy by using the following expression under the condition that the maximum value is smaller than a preset threshold value:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at 1 meter intervals of the beacons; n represents an environmental attenuation factor; abs () represents an absolute value taking function; fix represents the precision factor;
and the positioning module is also used for sending prompt information with an error value of the positioning precision to a client when positioning is carried out by using the updated coordinate information, and is used for prompting that the client has an error during positioning.
In an implementation manner of the embodiment of the present invention, the monitoring module 230 includes:
the second calculation unit is connected with the acquisition module and the third calculation unit and is used for performing square summation operation on the triaxial acceleration monitored in the terminal moving process to obtain a sequence N;
the third calculating unit is connected with the second calculating unit and the positioning module, and is configured to calculate a moving step length of the terminal by using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent troughs in the sequence N, H represents a difference between respective peak-to-trough values included in the sequence N, and a, b, and c represent conversion coefficients.
In an implementation manner of the embodiment of the present invention, the positioning module 240 is further configured to
Calculating the average value of the azimuth angles monitored by the terminal in the moving process to obtain an angle average value;
calculating coordinate increment according to the moving step length and the angle mean value;
updating the coordinate information with the coordinate delta.
By applying the scheme provided by the embodiment of the invention, when the terminal needs to be positioned, the coordinate information of the target beacon closest to the terminal is utilized to carry out initial positioning, and when the terminal moves, the coordinate information is updated in real time through the azimuth angle and the three-axis acceleration of the terminal to carry out positioning, so that the problem of low error precision caused by the fact that the error of converting the intensity of the received signal into the distance is increased along with the increase of the distance is solved.
And the terminal scans broadcast data of surrounding beacons in real time, and then when the distance between the terminal and other beacons is smaller than that between the terminal and a target beacon, the beacon closest to the terminal is taken as the target beacon again for positioning update, so that accumulated errors caused by positioning by using an azimuth angle and triaxial acceleration are eliminated, and the positioning effect is improved.
An embodiment of the present invention further provides a terminal, as shown in fig. 3, including a processor 001, a communication interface 002, a memory 003 and a communication bus 004, where the processor 001, the communication interface 002 and the memory 003 complete mutual communication through the communication bus 004,
a memory 003 for storing processor-executable instructions;
the processor 001, when executing the instructions stored in the memory 003, is configured to implement the terminal positioning method according to any one of the above aspects, and the method includes:
receiving broadcast data of each beacon, and acquiring the identifier and the received signal strength of each beacon according to each broadcast data;
selecting a target beacon by using the received signal strength of each beacon, wherein the target beacon is as follows: receiving a beacon corresponding to the maximum value in the signal strength;
acquiring coordinate information of the target beacon through the identifier of the target beacon;
monitoring an azimuth angle and triaxial acceleration of the terminal in a moving process, and calculating a moving step length of the terminal by using the triaxial acceleration;
and updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information.
By applying the scheme provided by the embodiment of the invention, when the terminal needs to be positioned, the coordinate information of the target beacon closest to the terminal is utilized to carry out initial positioning, and when the terminal moves, the coordinate information is updated in real time through the azimuth angle and the three-axis acceleration of the terminal to carry out positioning, so that the problem that the error of converting the intensity of the received signal into the distance is increased along with the increase of the distance, and the error precision is low is solved.
And the terminal scans broadcast data of surrounding beacons in real time, and then when the distance between the terminal and other beacons is smaller than that between the terminal and a target beacon, the beacon closest to the terminal is taken as the target beacon again for positioning update, so that accumulated errors caused by positioning by using an azimuth angle and triaxial acceleration are eliminated, and the positioning effect is improved.
The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this is not intended to represent only one bus or type of bus.
The communication interface is used for communication between the terminal and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. Especially, as for the device and terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant points, reference may be made to the partial description of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A method for positioning a terminal, the method comprising:
receiving broadcast data of each beacon, and acquiring an identifier and a received signal of each beacon according to each broadcast data;
selecting a target beacon by using the received signal strength of each beacon, wherein the target beacon is as follows: receiving a beacon corresponding to the maximum value in the signal strength;
acquiring coordinate information of the target beacon through the identifier of the target beacon;
monitoring an azimuth angle and triaxial acceleration of the terminal in a moving process, and calculating a moving step length of the terminal by using the triaxial acceleration;
updating the coordinate information according to the azimuth angle and the moving step length, and positioning by using the updated coordinate information;
wherein the broadcast data further comprises: signal strength at 1 meter distance from the beacon; the method further comprises the following steps: and under the condition that the maximum value is smaller than a preset threshold value, calculating the positioning accuracy by using the following expression:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at a distance of 1 meter from the beacon; n represents an environmental attenuation factor; abs () represents an absolute value taking function; fix represents a precision factor;
and when the updated coordinate information is used for positioning, sending prompt information with an error value of the positioning precision to the client for prompting that the client has an error in positioning.
2. The method of claim 1, wherein said step of using the received signal strength of each of said beacons to extract a target beacon comprises:
calculating the average value of the received signal strength of each beacon in a preset time period according to the received signal strength of each beacon to obtain the average received signal strength;
determining a maximum value of each of the average received signal strengths;
and taking the beacon corresponding to the maximum value as a target beacon.
3. The method of claim 1, wherein the step of calculating the moving step of the terminal using the three-axis acceleration comprises:
carrying out square summation operation on the triaxial acceleration monitored in the terminal moving process to obtain a sequence N;
calculating a moving step size of the terminal using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent valleys in the sequence N, H represents a difference between respective peak and valley values included in the sequence N, and a, b, and c represent conversion coefficients.
4. The method of claim 3, wherein the step of updating the coordinate information based on the azimuth angle and the moving step comprises:
calculating the average value of the azimuth angles monitored by the terminal in the moving process to obtain an angle average value;
calculating coordinate increment according to the moving step length and the angle mean value;
updating the coordinate information with the coordinate delta.
5. A terminal positioning apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving broadcast data of each beacon and acquiring the identifier and the received signal strength of each beacon according to each broadcast data;
a selecting module, connected to the receiving module and the obtaining module, configured to select a target beacon by using the received signal strength of each beacon, where the target beacon is: receiving a beacon corresponding to the maximum value in the signal strength;
the acquisition module is connected with the selection module and the monitoring module and is used for acquiring the coordinate information of the target beacon through the identifier of the target beacon;
the monitoring module is connected with the acquisition module and the positioning module and is used for monitoring an azimuth angle and triaxial acceleration of the terminal in the moving process and calculating the moving step length of the terminal by using the triaxial acceleration;
the positioning module is connected with the monitoring module and used for updating the coordinate information according to the azimuth angle and the moving step length and positioning by using the updated coordinate information;
wherein the broadcast data further comprises: signal strength at 1 meter distance from the beacon; the device further comprises: the calculation module is connected with the selection module and the positioning module and used for calculating the positioning accuracy by using the following expression under the condition that the maximum value is smaller than a preset threshold value:
d＝10^((abs(rssi)-a)/(10*n))*fix
wherein: d represents the positioning accuracy; rssi represents the received signal strength; a represents the signal strength at 1 meter intervals of the beacons; n represents an environmental attenuation factor; abs () represents an absolute value taking function; fix represents a precision factor;
and the positioning module is also used for sending prompt information with an error value of the positioning precision to a client when positioning is carried out by using the updated coordinate information, and is used for prompting that the client has an error during positioning.
6. The apparatus of claim 5, wherein the selection module comprises:
the first calculating unit is connected with the receiving module and the determining unit and used for calculating the average value of the received signal strength in a preset time period aiming at the received signal strength of each beacon to obtain the average received signal strength;
the determining unit is connected with the first calculating unit and the selecting unit and is used for determining the maximum value in the average received signal strength;
and the selecting unit is connected with the determining unit and the acquiring module and is used for taking the beacon corresponding to the maximum value as a target beacon.
7. The apparatus of claim 5, wherein the monitoring module comprises:
the second calculation unit is connected with the acquisition module and the third calculation unit and is used for performing square summation operation on the three-axis acceleration monitored in the terminal moving process to obtain a sequence N;
the third calculating unit is connected with the second calculating unit and the positioning module and is used for calculating the moving step length of the terminal by using the following expression:
wherein length represents a moving step, T represents a time difference between two adjacent troughs in the sequence N, H represents a difference between respective peak-to-trough values included in the sequence N, and a, b, and c represent conversion coefficients.
8. A terminal is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication between the processor and the memory through the communication bus;
a memory for storing processor-executable instructions;
a processor adapted to perform the method steps of any of claims 1-4 when executing instructions stored in the memory.
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| CN115866751B (en) * | 2023-01-12 | 2023-05-26 | 广州世炬网络科技有限公司 | Positioning method and device based on fixed beacons and indoor map |
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