CN114828209A - Positioning method, positioning device, electronic equipment and computer readable storage medium - Google Patents
Positioning method, positioning device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN114828209A CN114828209A CN202210431761.7A CN202210431761A CN114828209A CN 114828209 A CN114828209 A CN 114828209A CN 202210431761 A CN202210431761 A CN 202210431761A CN 114828209 A CN114828209 A CN 114828209A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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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
- H04W4/80—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 embodiment of the application provides a positioning method, a positioning device, electronic equipment and a computer readable storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a computer-readable storage medium.
Background
The positioning technology can combine people or objects with position data information to realize services such as accurate positioning, navigation, landmarks and the like. In the related art, the bluetooth-based indoor positioning technology mainly includes a pure bluetooth positioning technology, a bluetooth positioning and laminating road network positioning technology, and a technology of fusing and positioning the bluetooth positioning technology and an inertial sensor. The Bluetooth positioning technology can achieve a meter-level positioning result based on very small calculation force, but Bluetooth signals are easily interfered by environmental noise, and positioning accuracy is not high. In the bluetooth location laminating road network location technique, the road network laminating mistake can be leaded to the not high positioning stability and precision to can't guarantee the positioning accuracy. The integration positioning of the Bluetooth positioning and the inertial sensor requires frequent interactive calculation with sensor equipment, which affects the overall performance of the system; and the inertial sensor positioning itself has accumulated errors, and the positioning accuracy cannot be ensured. Therefore, it is an urgent technical problem to improve the positioning accuracy.
Disclosure of Invention
The object of the present application is to solve at least one of the above-mentioned technical drawbacks, in particular the low positioning accuracy of bluetooth positioning.
According to an aspect of the present application, there is provided a positioning method, including:
acquiring first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position; each group of the Bluetooth signals are respectively sent out by corresponding Bluetooth beacon equipment;
determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter;
wherein the signal error parameter is determined according to a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location;
and positioning the first user equipment according to the second signal parameter.
Optionally, the filtering the first signal parameter of each group of bluetooth signals according to the signal error parameter to obtain a second signal parameter includes:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
Optionally, the determining the signal error parameter includes:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
k (n) ([ 1-K (n-1) ]) Q/[ (1-K (n-1) ]) Q + R, wherein K (n) represents a signal error parameter of the filtering processing at the nth time, K (n-1) represents a signal error parameter of the filtering processing at the n-1 th time, Q represents the equipment error parameter, and R represents the environment error parameter.
Optionally, the performing, according to the second signal parameter, a positioning process on the first user equipment includes:
determining the spacing distance between the first user equipment and the Bluetooth beacon equipment according to the second signal parameter, the preset attenuation parameter and the third data relation;
and determining the position coordinates of the first user equipment according to the spacing distance.
Optionally, the third data relationship includes:
d＝10^M；
wherein M ═ [ (abs (v) -a)/(10 × N) ];
wherein d represents the separation distance; 10^ M represents the power M of 10;
v represents the second signal parameter; abs (V) denotes the absolute value of V;
a represents the preset signal parameter; n represents the preset attenuation parameter.
According to another aspect of the present application, there is provided a positioning apparatus, the apparatus comprising:
the parameter acquisition module is used for acquiring a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position; each group of the Bluetooth signals are respectively sent out by corresponding Bluetooth beacon equipment;
the filtering module is used for determining signal error parameters and respectively filtering the first signal parameters of each group of Bluetooth signals according to the signal error parameters to obtain second signal parameters;
wherein the signal error parameter is determined according to a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location;
and the positioning module is used for positioning the first user equipment according to the second signal parameter.
Optionally, the filtering module is specifically configured to:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
Optionally, the filtering module is specifically configured to:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
k (n) ([ 1-K (n-1) ]) Q/[ (1-K (n-1) ]) Q + R, wherein K (n) represents a signal error parameter of the filtering processing of the nth time, K (n-1) represents a signal error parameter of the filtering processing of the (n-1) th time, Q represents the equipment error parameter, and R represents the environment error parameter.
According to another aspect of the present application, there is provided an electronic device including:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: performing the positioning method according to any one of the first aspects of the present application.
For example, in a third aspect of the present application, there is provided a computing device comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the positioning method as shown in the first aspect of the application.
According to yet another aspect of the present application, a computer readable storage medium is provided, which when executed by a processor implements the positioning method of any one of the first aspect of the present application.
For example, in a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the positioning method shown in the first aspect of the present application.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the method provided in the various alternative implementations of the first aspect described above.
The beneficial effect that technical scheme that this application provided brought is:
according to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic system architecture diagram of a positioning method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device for positioning according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the embodiments set forth below in connection with the drawings are exemplary descriptions for explaining technical solutions of the embodiments of the present application, and do not limit the technical solutions of the embodiments of the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the terms "comprises" and/or "comprising," when used in this specification in connection with embodiments of the present application, specify the presence of stated features, information, data, steps, operations, elements, and/or components, but do not preclude the presence or addition of other features, information, data, steps, operations, elements, components, and/or groups thereof, as embodied in the art. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein indicates at least one of the items defined by the term, e.g., "a and/or B" may be implemented as "a", or as "B", or as "a and B".
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The following describes the technical solution of the present application and how to solve the above technical problems in detail by specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Reference is first made to fig. 1, which is a system architecture diagram of a positioning method according to an embodiment of the present application. The system may comprise a server 101 and a terminal cluster, wherein the server 101 may be considered as a background server providing positioning processing.
The terminal cluster may include: a terminal 102, a terminal 103, and a terminal 104, … …, wherein a communication connection may exist between the terminals, for example, a communication connection exists between the terminal 102 and the terminal 103, and a communication connection exists between the terminal 103 and the terminal 104.
Meanwhile, the server 101 may provide a location service for the terminal cluster through a communication connection function, and any terminal in the terminal cluster may have a communication connection with the server 101, for example, a communication connection exists between the terminal 102 and the server 101, and a communication connection exists between the terminal 103 and the server 101, where the communication connection is not limited to a connection manner, and may be directly or indirectly connected through a wired communication manner, may also be directly or indirectly connected through a wireless communication manner, and may also be through other manners.
The communicatively coupled network may be a wide area network or a local area network, or a combination thereof. The application is not limited thereto.
The positioning method in the embodiment of the present application may be executed on a server side or a terminal side, and an execution subject is not limited in the embodiment of the present application. In the positioning processing process, first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position are obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; and positioning the first user equipment according to the second signal parameter.
Therefore, the method provided by the embodiment of the present application may be executed by a computer device, which includes but is not limited to a terminal (also including the user terminal described above) or a server (also including the server 101 described above). The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, middleware service, a domain name service, a security service, a CDN, a big data and artificial intelligence platform, and the like. The terminal may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal and the server may be directly or indirectly connected through wired or wireless communication, and the application is not limited herein.
Of course, the method provided in the embodiment of the present application is not limited to be used in the application scenario shown in fig. 1, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described in the following method embodiments, and will not be described in detail herein.
The embodiment of the application provides a possible implementation mode, and the scheme can be executed by any electronic equipment; optionally, any electronic device may be a server device with positioning capability, or may be a device or chip integrated on these devices. As shown in fig. 2, which is a schematic flow chart of a positioning method provided in an embodiment of the present application, the method includes the following steps:
step S201: first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position are obtained.
And each group of the Bluetooth signals are respectively sent out by the corresponding Bluetooth beacon equipment.
Optionally, the embodiment of the application can be applied to the technical field of computers; for example, the method may be specifically applied to an application scenario in which a user equipment (hereinafter referred to as a first user equipment for convenience of description) is located based on bluetooth technology.
The first user equipment can be any user equipment; for example, the first user equipment may be a terminal device of the user.
The first signal parameter is the signal parameter of at least two groups of Bluetooth signals detected by the first user equipment at the first position. Optionally, the first Signal parameter may be a Signal Strength of a bluetooth Signal, for example, a Received Signal Strength Indicator (RSSI). Wherein, the bluetooth signal can be sent out by the corresponding bluetooth beacon device; it is understood that the bluetooth beacon device may include a plurality; also, the bluetooth beacon device may be preset in a predetermined location.
The first position may be any position within a predetermined space; for example, the first location may be any location in an indoor space such as a mall, an office, or the like, or may be any location in an outdoor space such as a park, a square, or the like.
As an example, in an actual scenario, a first user equipment may search for bluetooth signals sent by nearby bluetooth beacon devices at a first location, rank the signal strengths of the detected bluetooth signals, obtain signal strength values of three groups of bluetooth signals of the first three bits in the signal strength ranking, and send the signal strength values to a server for positioning the first user equipment. It will be appreciated that three sets of bluetooth signals may be respectively emitted by three bluetooth beacon devices, for example, the three bluetooth beacon devices may be respectively a bluetooth beacon device a, a bluetooth beacon device b, and a bluetooth beacon device c.
In the first example, the positioning process is performed only by using the signal strengths of three sets of bluetooth signals, but the present application is not limited thereto.
Step S202: and determining a signal error parameter, and respectively carrying out filtering processing on the first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter.
Wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location.
In particular, the signal error parameter includes a parameter determined from the signal error. In this embodiment, the signal error parameter may be determined according to the device error parameter of the bluetooth beacon device and the environmental error parameter of the first location. The device error parameter is a signal error caused by the Bluetooth beacon device; the environmental error parameter is a signal error caused by an environmental space where the first position is located, for example, there is a certain error in the detected signal intensity caused by indoor spaces such as shopping malls, walls and columns in the space, and other factors.
Because the device of the bluetooth beacon device has a certain error and the bluetooth signal is easily interfered by environmental noise, the signal precision of the detected bluetooth signal is low. In the embodiment of the application, each group can be respectively filtered according to the signal error parameters according to the first signal parameters of the Bluetooth signals, so that the signal precision of the Bluetooth signals is improved.
Optionally, in this embodiment of the application, the first signal parameter may be filtered for multiple times to obtain a second signal parameter with higher precision. It can be understood that the second signal parameter is a signal parameter with higher precision obtained after the filtering process.
Step S203: and positioning the first user equipment according to the second signal parameter.
After the first signal parameter is filtered to obtain a second signal parameter, the first user equipment may be located according to the second signal parameter.
Specifically, in this embodiment of the present application, a separation distance between the first user equipment and the bluetooth beacon device may be determined according to the second signal parameter; and then determining the position coordinates of the first user equipment according to the spacing distance.
Optionally, still in combination with the first example, after the three sets of bluetooth signals are obtained, the three sets of bluetooth signals may be filtered, and the second signal parameter corresponding to each set of bluetooth signals is determined. A separation distance between the first user device and the corresponding Bluetooth beacon device is then determined based on the second signal parameter. Since the three sets of bluetooth signals are respectively emitted by the three bluetooth beacon devices, the separation distances d1, d2, d3 between the first user device and the bluetooth beacon devices a, b, c, respectively, can be determined. Then, drawing a circle by taking the coordinate of the Bluetooth beacon device as a circle center and the spacing distance between the first user equipment and the Bluetooth beacon device as a radius; that is, circle1 is drawn with the coordinates of the bluetooth beacon device a as the center and the separation distance d1 as the radius; drawing a circle2 by taking the coordinate of the Bluetooth beacon device b as a circle center and taking the spacing distance d2 as a radius; circle3 is drawn with the coordinates of bluetooth beacon device c as the center and separation distance d3 as the radius. A triangle M formed by the intersection points of circle1, circle2 and circle 3; and determining the centroid coordinate of the triangle M as the position coordinate of the first user equipment.
According to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
In another embodiment of the present application, the filtering the first signal parameter of each group of the bluetooth signals according to the signal error parameter to obtain a second signal parameter includes:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
In the embodiment of the present application, the filtering process may include multiple times; for example, the first signal parameter of each set of bluetooth signals may be filtered 3 times, or 5 times, or 10 times, etc. And moreover, the filtering processing results of each group of Bluetooth signals can be marked through the Bluetooth beacon device identification codes, and the marked filtering processing results are respectively stored in corresponding caches.
Alternatively, the multiple filtering processes may be performed iteratively. For example, the n-th filtering process may be performed based on the result V (n-1) of the filtering process at the n-1 st time.
I.e. V ═ V (n-1) + [ RSSI-V (n-1) ] × k (n);
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
In the first filtering process, V (0) may be a preset signal parameter, for example, the preset signal parameter may be a predicted signal strength of the first user equipment at the first location.
In addition, the signal error parameter K (n) of the filtering process of the nth time can be determined according to the signal error parameter K (n-1) of the filtering process of the (n-1) th time.
For example, in another embodiment of the present application, the signal error parameter may be determined by:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
k (n) ([ 1-K (n-1) ]) Q/[ (1-K (n-1) ]) Q + R, wherein K (n) represents a signal error parameter of the filtering processing at the nth time, K (n-1) represents a signal error parameter of the filtering processing at the n-1 th time, Q represents the equipment error parameter, and R represents the environment error parameter.
In another embodiment of the present application, the performing, according to the second signal parameter, a positioning process on the first user equipment includes:
determining a spacing distance between the first user equipment and the Bluetooth beacon equipment according to the second signal parameter, a preset attenuation parameter and a third data relation;
and determining the position coordinates of the first user equipment according to the spacing distance.
In another embodiment of the present application, the third data relationship includes:
d＝10^M；
wherein M ═ [ (abs (v) -a)/(10 × N) ];
wherein d represents the separation distance; 10^ M represents the power M of 10;
v represents the second signal parameter; abs (V) denotes the absolute value of V;
a represents the preset signal parameter; n represents the preset attenuation parameter.
Optionally, the preset signal parameter may be a signal strength detected by the first user equipment when the bluetooth beacon device is separated from the first user equipment by 1 meter, and the preset attenuation parameter may be an environmental attenuation factor.
For example, still referring to the first example, after three sets of bluetooth signals are acquired, the three sets of bluetooth signals may be filtered, and the second signal parameter corresponding to each set of bluetooth signals may be determined. A separation distance between the first user device and the corresponding Bluetooth beacon device is then determined based on the second signal parameter. Since the three sets of bluetooth signals are respectively emitted by the three bluetooth beacon devices, the separation distances d1, d2, d3 between the first user device and the bluetooth beacon devices a, b, c, respectively, can be determined. Wherein the spacing distance d1, the spacing distance d2, and the spacing distance d3 may be determined based on the third data relationship.
Then, a circle can be drawn by taking the coordinate of the Bluetooth beacon device as the center of a circle and taking the spacing distance between the first user equipment and the Bluetooth beacon device as a radius; that is, circle1 is drawn with the coordinates of the bluetooth beacon device a as the center and the separation distance d1 as the radius; drawing a circle2 by taking the coordinate of the Bluetooth beacon device b as a circle center and taking the spacing distance d2 as a radius; circle3 is drawn with the coordinates of bluetooth beacon device c as the center and separation distance d3 as the radius. A triangle M formed by the intersection points of circle1, circle2 and circle 3; and determining the centroid coordinate of the triangle M as the position coordinate of the first user equipment.
According to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining signal error parameters, and respectively carrying out filtering processing on first signal parameters of each group of Bluetooth signals according to the signal error parameters to obtain second signal parameters; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
The overall flow of the positioning method of the present application is described below with reference to fig. 3:
the mobile terminal (i.e. the first user equipment in the embodiment of the present application) searches for nearby bluetooth beacons; until at least three groups of Bluetooth signals are searched; acquiring three groups of Bluetooth signal data with strongest signal intensity (namely a first signal parameter of the embodiment of the application) and sending the three groups of Bluetooth signal data to a positioning engine; filtering the three groups of Bluetooth signal data for n times respectively; performing triangular centroid calculation by using the filtered Bluetooth signal data (namely the second signal parameter); and determining the positioning data to be fed back to the mobile terminal.
According to the embodiment of the application, first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position are obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
The embodiment of the present application provides a positioning apparatus, as shown in fig. 4, the positioning apparatus 40 may include: a parameter acquisition module 401, a filtering module 402, and a positioning module 403, wherein,
a parameter obtaining module 401, configured to obtain a first signal parameter of at least two sets of bluetooth signals detected by a first user equipment at a first location; each group of the Bluetooth signals are respectively sent out by corresponding Bluetooth beacon equipment;
a filtering module 402, configured to determine a signal error parameter, and perform filtering processing on a first signal parameter of each group of bluetooth signals according to the signal error parameter, to obtain a second signal parameter;
wherein the signal error parameter is determined according to a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location;
a positioning module 403, configured to perform positioning processing on the first user equipment according to the second signal parameter.
In another embodiment of the present application, the filtering module is specifically configured to:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
In another embodiment of the present application, the filtering module is specifically configured to:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
k (n) ([ 1-K (n-1) ]) Q/[ (1-K (n-1) ]) Q + R, wherein K (n) represents a signal error parameter of the filtering processing of the nth time, K (n-1) represents a signal error parameter of the filtering processing of the (n-1) th time, Q represents the equipment error parameter, and R represents the environment error parameter.
In another embodiment of the present application, the positioning module is specifically configured to:
determining the spacing distance between the first user equipment and the Bluetooth beacon equipment according to the second signal parameter, the preset attenuation parameter and the third data relation;
and determining the position coordinates of the first user equipment according to the spacing distance.
In another embodiment of the present application, the third data relationship includes:
d＝10^M；
wherein M ═ [ (abs (v) -a)/(10 × N) ];
wherein d represents the separation distance; 10^ M represents the power M of 10;
v represents the second signal parameter; abs (V) denotes the absolute value of V;
a represents the preset signal parameter; n represents the preset attenuation parameter.
The apparatus of the embodiment of the present application may execute the method provided by the embodiment of the present application, and the implementation principle is similar, the actions executed by the modules in the apparatus of the embodiments of the present application correspond to the steps in the method of the embodiments of the present application, and for the detailed functional description of the modules of the apparatus, reference may be specifically made to the description in the corresponding method shown in the foregoing, and details are not repeated here.
According to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
An embodiment of the present application provides an electronic device, including: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, implements: according to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
In an alternative embodiment, an electronic device is provided, as shown in fig. 5, the electronic device 4000 shown in fig. 5 comprising: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data. In addition, the transceiver 4004 is not limited to one in practical applications, and the structure of the electronic device 4000 is not limited to the embodiment of the present application.
The Processor 4001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (field programmable Gate Array) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 4001 may also be a combination that performs a computational function, including, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
The Memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 4003 is used for storing application program codes (computer programs) for executing the present scheme, and is controlled by the processor 4001 to execute. Processor 4001 is configured to execute application code stored in memory 4003 to implement what is shown in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: mobile phones, notebook computers, multimedia players, desktop computers, and the like.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments.
According to the embodiment of the application, a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position is obtained; determining a signal error parameter, and respectively carrying out filtering processing on a first signal parameter of each group of Bluetooth signals according to the signal error parameter to obtain a second signal parameter; positioning the first user equipment according to the second signal parameter; wherein the signal error parameter is determined based on a device error parameter of the Bluetooth beacon device and an environmental error parameter of the first location; therefore, the first signal parameter is filtered according to the signal error parameter, so that the interference of equipment errors and environmental errors on the Bluetooth signal can be filtered, and a second signal parameter with higher precision is obtained; and positioning the first user equipment according to the second signal parameter, so that the positioning accuracy can be improved.
The terms "first," "second," "third," "fourth," "1," "2," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than illustrated or otherwise described herein.
It should be understood that, although each operation step is indicated by an arrow in the flowchart of the embodiment of the present application, the implementation order of the steps is not limited to the order indicated by the arrow. In some implementation scenarios of the embodiments of the present application, the implementation steps in the flowcharts may be performed in other sequences as needed, unless explicitly stated otherwise herein. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on an actual implementation scenario. Some or all of these sub-steps or stages may be performed at the same time, or each of these sub-steps or stages may be performed at different times, respectively. Under the scenario that the execution time is different, the execution sequence of the sub-steps or phases may be flexibly configured according to the requirement, which is not limited in the embodiment of the present application.
The foregoing is only an optional implementation manner of a part of implementation scenarios in this application, and it should be noted that, for those skilled in the art, other similar implementation means based on the technical idea of this application are also within the protection scope of the embodiments of this application without departing from the technical idea of this application.
Claims (10)
1. A method of positioning, comprising:
acquiring first signal parameters of at least two groups of Bluetooth signals detected by first user equipment at a first position; each group of the Bluetooth signals are respectively sent out by corresponding Bluetooth beacon equipment;
determining signal error parameters, and respectively carrying out filtering processing on first signal parameters of each group of Bluetooth signals according to the signal error parameters to obtain second signal parameters;
wherein the signal error parameter is determined according to a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location;
and positioning the first user equipment according to the second signal parameter.
2. The method according to claim 1, wherein the filtering the first signal parameter of each group of bluetooth signals according to the signal error parameter to obtain a second signal parameter comprises:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of filtering processes, and V (n-1) represents the result of the filtering process at the n-1 st time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
3. The method according to claim 1 or 2, wherein the determining a signal error parameter comprises:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
K(n)＝[1-K(n-1)]*Q/[(1-K(n-1)]*Q+R；
wherein k (n) represents a signal error parameter of the filtering process of the nth time; k (n-1) represents a signal error parameter of the filtering processing of the (n-1) th time; q represents the plant error parameter; r represents the environmental error parameter.
4. The method according to claim 1, wherein the performing the positioning process on the first user equipment according to the second signal parameter comprises:
determining the spacing distance between the first user equipment and the Bluetooth beacon equipment according to the second signal parameter, the preset attenuation parameter and the third data relation;
and determining the position coordinates of the first user equipment according to the spacing distance.
5. The positioning method of claim 4, wherein the third data relationship comprises:
d＝10^M；
wherein M ═ [ (abs (v) -a)/(10 × N) ];
wherein d represents the separation distance; 10^ M represents the power M of 10;
v represents the second signal parameter; abs (V) denotes the absolute value of V;
a represents the preset signal parameter; n represents the preset attenuation parameter.
6. A positioning device, comprising:
the parameter acquisition module is used for acquiring a first signal parameter of at least two groups of Bluetooth signals detected by first user equipment at a first position; each group of the Bluetooth signals are respectively sent out by corresponding Bluetooth beacon equipment;
the filtering module is used for determining signal error parameters and respectively filtering the first signal parameters of each group of Bluetooth signals according to the signal error parameters to obtain second signal parameters;
wherein the signal error parameter is determined according to a device error parameter of the bluetooth beacon device and an environmental error parameter of the first location;
and the positioning module is used for positioning the first user equipment according to the second signal parameter.
7. The positioning apparatus according to claim 6, wherein the filtering module is specifically configured to:
filtering the first signal parameter according to the signal error parameter and a first data relation;
wherein the first data relationship comprises:
V＝V(n-1)+[RSSI-V(n-1)]*K(n)；
wherein V represents the second signal parameter; n represents the number of times of filtering processing, and V (n-1) represents the result of the filtering processing of the (n-1) th time; RSSI represents the first signal parameter; k (n) represents the signal error parameter.
8. The positioning device according to claim 6 or 7, wherein the filtering module is specifically configured to:
determining the signal error parameter according to the equipment error parameter, the environment error parameter and a second data relation;
the second data relationship includes:
k (n) ([ 1-K (n-1) ]) Q/[ (1-K (n-1) ]) Q + R, wherein K (n) represents a signal error parameter of the filtering processing of the nth time, K (n-1) represents a signal error parameter of the filtering processing of the (n-1) th time, Q represents the equipment error parameter, and R represents the environment error parameter.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: performing the positioning method according to any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the positioning method according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210431761.7A CN114828209A (en) | 2022-04-22 | 2022-04-22 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210431761.7A CN114828209A (en) | 2022-04-22 | 2022-04-22 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
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| CN202210431761.7A Pending CN114828209A (en) | 2022-04-22 | 2022-04-22 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
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| CN (1) | CN114828209A (en) |
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