CN114760686A - Asset positioning method and system based on BLE Mesh network - Google Patents
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Abstract
The invention belongs to the technical field of indoor positioning, and particularly relates to an asset positioning method and system based on a BLE Mesh network; the method comprises the following steps: constructing an asset positioning system based on a BLE Mesh network; the gateway periodically sends heartbeat packets to the nodes; the node scans the heartbeat packet to obtain the broadcast address and the signal strength value of the neighbor node; when the number of the signal intensity samples reaches a threshold value, filtering all the signal intensity samples; obtaining the signal intensity mean value corresponding to each neighbor node; the node packs the neighbor node information at regular time; transmitting the packaged information back to a background positioning server through a gateway; the background positioning server carries out relative positioning calculation on the assets according to the packaged information to obtain the specific positions of the assets; the invention greatly reduces the construction cost of the positioning system, simultaneously reduces the complexity of early construction and improves the flexibility of system deployment.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to an asset positioning method and system based on a BLE Mesh network.
Background
Because the early low-power-consumption Bluetooth can only realize point-to-point communication, does not support Mesh networking and cannot carry out many-to-many communication, the conventional Bluetooth positioning methods for commercial positioning products comprise three types of positioning based on range detection, positioning based on signal intensity and positioning based on angles.
The positioning system based on range detection is realized by utilizing the characteristic that signal coverage ranges of Bluetooth devices with different power levels are different, the asset management tag is used for sending a signal with information such as a self MAC address, the Bluetooth gateway is used for reading and analyzing the information sent by the asset management tag, and the information can be received to indicate that the asset is in a room where the gateway is located.
The positioning system based on the signal strength uses the received signal strength value as a characteristic quantity to perform positioning, and the positioning accuracy of the method is in a range of 1-10 m, which depends on the deployment density of the anchor nodes and the used optimization method. Generally, the method can be divided into a signal model positioning method and a field intensity fingerprint matching method. The signal model positioning method converts the received RSSI value into a distance through a formula, and uses an algorithm based on ranging to position a target, and the method generally needs to be matched with a filtering algorithm or an iterative algorithm to improve the positioning accuracy. The field intensity fingerprint matching method directly compares the received RSSI value with a fingerprint database established in the early stage to obtain a positioning coordinate, and the method does not need to solve, but a large amount of time and labor cost are consumed for early stage fingerprint off-line acquisition.
The angle-based positioning system acquires phase differences of signals among different antennas through an antenna array in an anchor node so as to acquire angle information of an incoming wave direction, and positioning is realized by utilizing a triangulation positioning algorithm. Compared with a positioning mode based on signal intensity, the positioning precision is greatly improved, and even the sub-meter level can be achieved. However, such positioning method has high hardware requirement, and requires an antenna array, which is not only costly but also complex in data processing.
Asset location systems based on range detection can only achieve "room level" location with insufficient accuracy to meet the current asset location needs. Although the positioning accuracy of the positioning system based on the signal strength and the angle is improved, the positioning system based on the angle even far exceeds the meter-level positioning requirement of asset positioning, but both current system structures need to deploy a large number of positioning base stations as anchor nodes at the initial construction stage, the fault of a single positioning base station inevitably affects the asset positioning accuracy in the coverage range of the single positioning base station, and the data return needs to be solved by additionally installing a WIFI module or arranging network cables, so that the construction cost of the system is further increased, and the early engineering implementation is complex.
In summary, there is a need for an asset positioning method that can meet the requirement of asset positioning accuracy, and at the same time, can greatly reduce the cost, and make the early construction more flexible and simple.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an asset positioning method and system based on a BLE Mesh network, wherein the method comprises the following steps:
s1: networking by adopting asset tags and gateways to obtain an asset positioning system which communicates by utilizing a BLE Mesh network;
s2: the gateway periodically sends heartbeat packets to all nodes in the Mesh network; wherein different heartbeat packets have different sequence numbers;
s3: all Mesh nodes in the Mesh network scan the heartbeat packet to obtain the broadcast address and the signal strength value of the neighbor node; judging whether a heartbeat packet of the serial number is received for the first time by the Mesh node, if so, acquiring a shortest hop distance value from the node to the gateway according to the heartbeat packet and forwarding the heartbeat packet to a neighbor node, otherwise, discarding the heartbeat packet;
s4: setting a threshold value of the number of signal strength samples, and counting the number of the scanned signal strength samples by the node; if the number of the signal intensity samples reaches a threshold value, processing all the signal intensity samples to obtain a signal intensity average value corresponding to each neighbor node;
S5: all Mesh nodes in the Mesh network pack broadcast addresses and signal intensity mean values of own neighbor nodes and electric quantity information of the nodes at regular time; transmitting the packaged information back to a background positioning server through a gateway;
s6: and the background positioning server performs relative positioning calculation on the assets according to the packaged information to obtain the specific positions of the assets.
Preferably, the process of obtaining the broadcast address and the signal strength value of the neighbor node includes: the Mesh node scans the broadcasted heartbeat packet, and extracts the broadcast address of the neighbor node and the signal strength value of the packet from the metadata of the broadcast packet.
Preferably, the determining whether the node receives the heartbeat packet with the sequence number for the first time includes: if the cache of the Mesh node does not have the same information as the serial number and the source address of the heartbeat packet, judging that the heartbeat packet is received for the first time and storing the source address and the serial number of the heartbeat packet into the cache; if the cache of the Mesh node contains information matched with the serial number and the source address of the heartbeat packet, the heartbeat packet is judged not to be received for the first time.
Preferably, the processing of all signal strength samples comprises: performing Gaussian filtering processing on all the signal intensity samples to obtain the signal intensity samples with abnormal values removed; and averaging the signal intensity samples after the abnormal values are removed to obtain the signal intensity average value corresponding to each neighbor node.
Preferably, the process of transmitting the packaged information back to the background positioning server includes: each Mesh node sets a TTL value, and the packaged information is transmitted to a neighbor node; the neighbor node judges whether the neighbor node is the destination address of the information, if so, the packed information is received and processed, otherwise, the neighbor node judges whether the shortest hop distance value from the neighbor node to the gateway is smaller than or equal to the TTL value; if the shortest hop distance value from the gateway to the gateway is smaller than or equal to the TTL value, the TTL value is subtracted by 1 and then relay forwarding is carried out, otherwise, the packaged information is discarded.
Preferably, the TTL value set by each Mesh node is the shortest hop distance value from the Mesh node to the gateway or the shortest hop distance value from the Mesh node to the gateway plus 1.
Preferably, the performing a relative positioning solution on the asset comprises: and adopting a mode of combining an MDS (minimum mean square) algorithm and a trilateral positioning algorithm to carry out relative positioning calculation on the assets.
Further, the method for performing relative positioning calculation on the assets by adopting a mode of combining an MDS (minimum signal computation) algorithm and a trilateration algorithm comprises the following steps: setting a maximum fully-connected node quantity threshold value according to the quantity of the asset tags and the actual deployment environment; and when the returned data can not meet the threshold value of the number of the maximum fully-connected nodes, complementing distance information between the nodes which is lacked in a two-hop range outside the current maximum fully-connected nodes by adopting an Euclidean distance measurement method.
An asset location system based on a BLE Mesh network, comprising: the system comprises a monitoring terminal, a background positioning server, a gateway and a Mesh node;
the Mesh node is used for acquiring the broadcast address and the signal intensity mean value of the neighbor node and packaging the neighbor node information;
the gateway is used for periodically sending heartbeat packets, receiving neighbor node information returned by the Mesh node and sending the neighbor node information to the background server;
the background positioning server is used for resolving the Mesh node position according to the neighbor node information to obtain the specific position of the Mesh node;
and the monitoring terminal is used for displaying the specific position of the Mesh node.
The beneficial effects of the invention are as follows: the invention aims to solve the problems of low positioning precision, high cost, inflexible deployment and the like of the current asset positioning system, cancels a positioning base station, adopts an asset tag and a gateway to build a BLE Mesh network, utilizes the characteristic that nodes in the BLE Mesh network can communicate with each other, combines a heartbeat mechanism to realize the information acquisition of the mutual distance between the nodes, improves the reliability of data return by utilizing a TTL processing mechanism, and finally performs positioning calculation on the asset by a centralized positioning algorithm to obtain positioning information. Compared with the existing positioning system based on signal strength/angle, the positioning system based on the BLE Mesh network has the advantages that the deployment of the positioning base station is cancelled, the data is transmitted back through the BLE Mesh network, the positioning precision is higher, the complexity of early construction can be reduced, the flexibility of system deployment can be improved under the condition of meeting the meter-level requirement of asset positioning, the cost is lower, the construction is convenient, the flexibility is good, and the engineering is certain.
Drawings
Figure 1 is a flow chart of an asset positioning method based on BLE Mesh network in the present invention;
FIG. 2 is a schematic diagram of a conventional range detection-based positioning system;
FIG. 3 is a schematic diagram of a conventional signal strength/angle-based positioning system;
FIG. 4 is a schematic diagram of an asset location system 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.
The invention provides an asset positioning method and system based on a BLE Mesh network, wherein the method comprises the following steps:
the Mesh node acquires the broadcast address and the signal intensity mean value of the neighbor node, namely the Bluetooth asset tag, and corresponds to the fixed asset one by one;
the Mesh node regularly packages the information of the neighbor nodes and transmits the packaged information back to the background positioning server; the neighbor node information comprises broadcast addresses and signal intensity mean values of neighbor nodes and electric quantity information of the Mesh node;
And the Mesh node determines a specific position according to the resolving information of the background positioning server.
The existing positioning system structure based on range detection is shown in fig. 2, in the figure, a bluetooth tag is used for sending a signal with information such as a self MAC address, and a gateway is used for reading and analyzing the information sent by the bluetooth tag, and the gateway can receive the information to indicate that an asset is in a room where the gateway is located. The positioning system structure based on signal strength/angle is shown in fig. 3, a large number of positioning base stations are required to be deployed on a ceiling as anchor nodes in the initial stage of construction of the positioning system adopting the structure, the fault of a single positioning base station inevitably affects the asset positioning accuracy in the coverage range of the single positioning base station, and the data return needs to be solved in a mode of additionally installing a WIFI module or arranging a network cable, so that the construction cost of the system is further increased, and the early engineering implementation is complex.
The invention also provides an asset positioning system based on the BLE Mesh network, which comprises the following components: the system comprises a monitoring terminal, a background positioning server, a gateway and a Mesh node;
the Mesh node is used for acquiring the broadcast address and the signal intensity mean value of the neighbor node and packaging the neighbor node information;
The gateway is used for periodically sending heartbeat packets, receiving neighbor node information returned by the Mesh node and sending the neighbor node information to the background server;
the background positioning server is used for resolving the Mesh node position according to the neighbor node information to obtain the specific position of the Mesh node;
and the monitoring terminal is used for displaying the specific position of the Mesh node.
The process of the asset positioning method based on the BLE Mesh network is shown in figure 1, and the specific process of asset positioning is as follows:
constructing an asset positioning system based on a BLE Mesh network, specifically, networking by adopting an asset tag and a gateway to obtain the asset positioning system which communicates by utilizing the BLE Mesh network; the asset positioning system disclosed by the invention is composed of a Mesh node, a gateway, a positioning server and a monitoring terminal, wherein the Mesh node is an asset tag (Bluetooth tag), and the positioning system realizes that all devices in the positioning system can communicate with each other by building a BLE Mesh network by the Bluetooth tag and the gateway. The Bluetooth tags and the gateways which form the Mesh network can acquire signal strength values and broadcast addresses of adjacent nodes and have a relay function, and the difference is that the Bluetooth tags are powered by batteries, each tag corresponds to unique asset information, and the gateways adopt commercial power access and can communicate with a positioning server through serial port lines; the positioning server can analyze the information returned by the gateway and perform positioning calculation, and the monitoring terminal matches the positioning information calculated by the positioning server with a map and performs visual presentation.
The gateway periodically sends heartbeat packets with the TTL value of 127 to all nodes in the Mesh network, and the heartbeat packets can be relayed and forwarded to any node in the network through other nodes; in order to prevent replay attack, according to the BLE Mesh protocol, the heartbeat packet sent each time by the gateway has a different sequence number SEQ, where SEQ is a field defined by the Mesh network, and is a unique sequence number set to a message issued each time in order to prevent replay attack.
Each Mesh node scans a heartbeat packet, specifically, the Mesh node scans metadata in a broadcast packet, and extracts a broadcast address of a neighbor node and a signal strength value RSSI of the packet from the metadata China; and judging whether the node receives the heartbeat packet of the serial number for the first time, if so, acquiring the shortest hop value from the node to the gateway according to the TTL field content in the heartbeat packet, then subtracting 1 from the TTL value of the heartbeat packet and carrying out relay forwarding, and if not, discarding the heartbeat packet. The Mesh node judges whether the heartbeat packet of the serial number is received for the first time or not, and the judgment comprises the following steps: if the cache of the Mesh node does not have the same information as the sequence number and the source address of the heartbeat packet, judging that the heartbeat packet is received for the first time and storing the source address and the sequence number of the heartbeat packet into the cache; if the cache of the Mesh node contains information matched with the serial number and the source address of the heartbeat packet, the heartbeat packet is judged not to be received for the first time.
Setting a threshold value of the number of signal strength samples, and counting the number of the scanned signal strength samples by a Mesh node; the sample quantity threshold is set before the code is burned into the node, the larger the threshold is, the more sample values which can be used for filtering processing are, the more accurate the filtering result is, but the memory size of the chip also needs to be considered comprehensively, and preferably, the signal strength sample quantity threshold is set to be 100; if the number of the signal strength samples reaches the threshold value, processing all the signal strength samples, wherein the process of processing all the signal strength samples comprises the following steps: after RSSI samples meeting the threshold of the number of signal strength samples are received, Gaussian filtering processing is carried out on the RSSI sample values at nodes, data abnormal values caused by signal fluctuation are eliminated, and the signal strength samples with the abnormal values eliminated are obtained; and averaging the signal intensity samples of the neighbor nodes after the abnormal values are eliminated to obtain the signal intensity average value corresponding to each neighbor node.
All Mesh nodes in the Mesh network regularly pack broadcast addresses of neighbor nodes collected in the early stage, the filtered signal strength mean values and the power information of the nodes; transmitting the packaged information back to a background positioning server through a gateway; in the process of returning, each Mesh node sets a TTL value of returned data (packaged information), and sets a destination address of the returned data as a unicast address of the gateway; preferably, the TTL value set by each Mesh node is the shortest hop distance value from itself to the gateway or the shortest hop distance value from itself to the gateway plus 1, and a certain redundancy is generated by setting TTL to be the shortest hop distance value from itself to the gateway plus 1, so as to increase the reliability of the returned data; the other nodes judge whether the nodes are the destination addresses of the information before relaying and forwarding the returned data, if so, the nodes are gateways, the returned data are received and sent to a background positioning server through serial port lines; otherwise, judging whether the shortest hop distance value from the gateway to the gateway is smaller than or equal to a TTL value set in the data to be relayed; if the shortest hop distance value from the gateway to the gateway is smaller than or equal to the TTL value, the TTL value is subtracted by 1 and then relay forwarding is carried out, otherwise, the packaged information is discarded.
The process ensures that the back transmission direction of the data is transmitted towards the gateway direction, thereby avoiding the whole Mesh network from being filled with a large amount of redundant data, reducing message conflict and implosion and improving the reliability of the data reaching the positioning server.
The positioning server receives and carries out relative positioning calculation on the assets according to the packaged information, and the specific process is as follows:
the positioning server can obtain the mutual distance information between the nodes according to the received returned data of each node; performing relative positioning calculation on the assets in a mode of combining MDS and trilateral positioning algorithms; the MDS positioning algorithm is implemented on the premise that nodes form a fully-connected structure, namely, the distance between any two nodes is known. In order to ensure the final positioning accuracy, the invention combines the number of asset tags and the actual deployment environment to set a maximum fully-connected node number threshold value, thereby ensuring that enough nodes can realize initial positioning through a centralized positioning algorithm with higher accuracy, such as MDS, and using the nodes as reference anchor nodes of a subsequent trilateral positioning algorithm; when the returned data cannot meet the threshold of the number of the maximum fully-connected nodes, completing distance information between nodes lacking in a two-hop range at the periphery of the current maximum fully-connected nodes by using an Euclidean distance measurement method, and resolving the positioning algorithm after the number of the completed maximum fully-connected nodes reaches the set threshold requirement, so that the final asset positioning accuracy can be improved by using the method.
Through positioning calculation, the specific position information of the assets can be obtained.
Compared with the existing positioning system based on range detection, the invention realizes mutual communication by building a BLE Mesh network by the Bluetooth label and the gateway, and realizes the improvement of positioning precision by the acquired mutual distance information between the nodes; compared with the existing positioning system based on signal strength/angle, the positioning system based on the BLE Mesh network has the advantages that the deployment of the positioning base station is cancelled, and data are transmitted back in the BLE Mesh network mode, so that the construction cost of the positioning system is greatly reduced, the complexity of early construction is reduced, and the flexibility of system deployment is improved.
The above-mentioned embodiments, which further illustrate the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An asset positioning method based on a BLE Mesh network is characterized by comprising the following steps:
the gateway periodically sends heartbeat packets to all Mesh nodes, and the Mesh nodes forward the heartbeat packets to own neighbor nodes;
The Mesh node receives the heartbeat packet forwarded by the neighbor node, and acquires the broadcast address and the signal intensity mean value of the neighbor node;
the Mesh node regularly packages the information of the neighbor nodes and transmits the packaged information back to the background positioning server; the neighbor node information comprises broadcast addresses and signal intensity mean values of neighbor nodes and electric quantity information of the Mesh node;
the Mesh node determines a body position according to the resolving information of the background positioning server;
the Mesh nodes are Bluetooth asset tags and correspond to the fixed assets one by one.
2. The method according to claim 1, wherein the Mesh node obtaining the signal strength mean of the neighbor node comprises:
the Mesh node periodically scans heartbeat packets sent by a gateway; in order to prevent replay attack, according to the protocol specification of the BLE mesh, heartbeat packets sent by the gateway each time have different sequence numbers;
the Mesh node scans the heartbeat packet to obtain the broadcast address and the signal strength value of the neighbor node;
and the Mesh node counts the number of the signal strength samples, and when the number of the signal strength samples reaches a threshold value, the signal strength samples are processed to obtain a signal strength average value.
3. The BLE Mesh network-based asset location method according to claim 2, wherein the process of scanning heartbeat packets by the Mesh node comprises:
the Mesh node scans a broadcast packet carrying heartbeat data, and extracts a broadcast address of a neighbor node and a signal strength value of the heartbeat packet from metadata of the broadcast packet;
judging whether the heartbeat packet of the serial number is received for the first time by the Mesh node;
if the judgment result is yes, acquiring the shortest hop distance value from the Mesh node to the gateway according to the heartbeat packet and forwarding the heartbeat packet to the neighbor node;
if the judgment result is negative, the heartbeat packet is discarded.
4. The method according to claim 3, wherein the step of the Mesh node judging whether the heartbeat packet with the sequence number is received for the first time comprises: if the cache of the Mesh node does not have the same information as the sequence number and the source address of the heartbeat packet, judging that the heartbeat packet is received for the first time and storing the source address and the sequence number of the heartbeat packet into the cache; if the cache of the Mesh node contains information matched with the serial number and the source address of the heartbeat packet, the heartbeat packet is judged not to be received for the first time.
5. The BLE Mesh network-based asset localization method according to claim 2, wherein the processing of the signal strength samples comprises: performing Gaussian filtering processing on all the signal intensity samples to obtain the signal intensity samples with abnormal values removed; and averaging the signal intensity samples after the abnormal values are removed to obtain the signal intensity average value corresponding to each neighbor node.
6. The method for asset location based on a BLE Mesh network of claim 1, wherein the step of transmitting the packaged information back to the background location server comprises: each Mesh node sets a TTL value, and the packaged information is forwarded to a neighbor node; the neighbor node judges whether the neighbor node is the destination address of the information, if so, the packed information is received and processed, otherwise, the neighbor node judges whether the shortest hop distance value from the neighbor node to the gateway is smaller than or equal to the TTL value; if the shortest hop distance value from the gateway to the gateway is smaller than or equal to the TTL value, the TTL value is subtracted by 1 and then relay forwarding is carried out, otherwise, the packaged information is discarded.
7. The method according to claim 6, wherein the TTL value set by each Mesh node is the shortest hop distance value from the Mesh node to the gateway or the shortest hop distance value from the Mesh node to the gateway plus 1.
8. An asset location system based on a BLE Mesh network, comprising: the system comprises a monitoring terminal, a background positioning server, a gateway and a Mesh node;
the Mesh node is used for acquiring the broadcast address and the signal intensity mean value of the neighbor node and packaging the neighbor node information;
the gateway is used for periodically sending heartbeat packets, receiving neighbor node information returned by the Mesh node and sending the neighbor node information to the background server;
The background positioning server is used for resolving the Mesh node position according to the neighbor node information to obtain the specific position of the Mesh node;
and the monitoring terminal is used for displaying the specific position of the Mesh node.
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