CN114845242A - Terminal device positioning method and device, storage medium and electronic device - Google Patents
Terminal device positioning method and device, storage medium and electronic device Download PDFInfo
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The present disclosure relates to the field of indoor positioning technologies, and in particular, to a terminal device positioning method, a terminal device positioning apparatus, a storage medium, and an electronic device. The terminal equipment positioning method comprises the following steps: responding to a positioning request sent by terminal equipment, and judging whether the terminal equipment is positioned in a preset positioning range; when the terminal equipment is judged to be located within a preset positioning range, sending a signal acquisition request to the terminal equipment so that the terminal equipment determines a target signal transceiver based on signal strength and receives a signal distance between the terminal equipment and the target signal transceiver, wherein the signal distance is sent by the target signal transceiver; and calculating the position information of the terminal equipment according to the signal distance between the terminal equipment and the target signal transceiver and the position information of the target signal transceiver. The terminal equipment positioning method can solve the problem that the positioning accuracy of the Bluetooth AOA positioning exceeds the 100-degree conical angle range is poor.
Description
Technical Field
The present disclosure relates to the field of indoor positioning technologies, and in particular, to a terminal device positioning method, a terminal device positioning apparatus, a storage medium, and an electronic device.
Background
With the increasing demand for indoor positioning, a number of indoor positioning technologies have come to emerge. There are developed many years of RFID (Radio Frequency Identification), infrared, bluetooth (iBeacon), WiFi (Wireless-Fidelity), and Ultra Wideband UWB (Ultra Wideband, Ultra Wideband-free communication technology) and recently emerging bluetooth 5.1AOA (Angle of Arrival ranging) and the like.
The Bluetooth AOA positioning skill uses an external seeking system to measure the direction or the viewpoint of a certain target and seeks the direction of the equipment in an indoor environment. The positioning system can be applied to logistics pursuit of storehouses or market customer position pursuit, and can be used for positioning and seeking ways by people.
The cone angle of the Bluetooth AOA positioning coverage range is about 100 degrees, the positioning accuracy of the part is centimeter-level, but the positioning accuracy of the range exceeding 100 degrees is worse to meter-level accuracy. If multi-station Bluetooth AOA positioning is used and the positioning range is guaranteed to be completely and seamlessly covered by the high-precision positioning area, the phenomenon that the high-precision positioning area is overlapped can occur, and the method can cause redundancy of positioning resources.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a terminal equipment positioning method, and aims to solve the problem of poor positioning accuracy of Bluetooth AOA positioning within a 100-degree conical angle range.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the embodiments of the present disclosure, a method for positioning a terminal device is provided, which is applied to a positioning gateway, and includes: responding to a positioning request sent by terminal equipment, and judging whether the terminal equipment is positioned in a preset positioning range; when the terminal equipment is judged to be located within a preset positioning range, sending a signal acquisition request to the terminal equipment so that the terminal equipment determines a target signal transceiver based on signal strength and receives a signal distance between the terminal equipment and the target signal transceiver, wherein the signal distance is sent by the target signal transceiver; and calculating the position information of the terminal equipment according to the signal distance between the terminal equipment and the target signal transceiver and the position information of the target signal transceiver.
According to some embodiments of the present disclosure, based on the foregoing scheme, the signal distance between the terminal device and the target signal transceiver includes: a first signal distance between the terminal device and the first signal transceiver, a second signal distance between the terminal device and the second signal transceiver, and a third signal distance between the terminal device and the third signal transceiver.
According to some embodiments of the present disclosure, based on the foregoing scheme, the determining whether the terminal device is located within a preset positioning range includes: acquiring high-precision positioning areas corresponding to the signal transceivers respectively; and when the terminal equipment is not in the high-precision positioning area, judging that the terminal equipment is positioned in a preset positioning range.
According to some embodiments of the present disclosure, based on the foregoing solution, the method further comprises: determining a positioning signal transceiver when the terminal device is in the high-precision positioning region; and forwarding the positioning request of the terminal equipment to the positioning signal transceiver so as to enable the positioning signal transceiver to calculate the position information of the terminal equipment and receive the position information of the terminal equipment returned by the positioning signal transceiver.
According to a second aspect of the embodiments of the present disclosure, there is provided a terminal device positioning method, applied to a terminal device, including: sending a positioning request to a positioning gateway; when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range, receiving a signal acquisition request sent by the positioning gateway; and determining a target signal transceiver based on the signal strength so as to enable the target signal transceiver to send the signal distance between the terminal equipment and the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the position information of the terminal equipment according to the signal distance and the position information of the target signal transceiver.
According to some embodiments of the present disclosure, based on the foregoing scheme, the determining a target signal transceiver based on signal strength includes: ranking the signal strength indicator values based on signal strength and determining a first signal strength indicator value, a second signal strength indicator value, and a third signal strength indicator value; and determining the signal transceivers corresponding to the first signal strength indicating value, the second signal strength indicating value and the third signal strength indicating value as the target signal transceiver.
According to a third aspect of the embodiments of the present disclosure, there is provided a terminal device positioning method applied to a signal transceiver, including: when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range, receiving a signal strength indicated value sent by the terminal equipment; inquiring a signal distance corresponding to the signal strength indicating value based on a pre-configured fingerprint library; and sending the signal distance to a positioning gateway so that the positioning gateway calculates the position information of the terminal equipment according to the signal distance.
According to some embodiments of the present disclosure, based on the foregoing solution, the method further comprises: pre-configuring the fingerprint repository, the pre-configuring the fingerprint repository comprising: acquiring signal strength indicated values respectively corresponding to the signal transceivers in different signal distances; storing the signal distance and signal strength indication values to configure the fingerprint library.
According to some embodiments of the present disclosure, based on the foregoing solution, the querying, based on a pre-configured fingerprint library, a signal distance corresponding to the signal strength indication value includes: querying the fingerprint repository for the presence of a target signal strength indication value that is the same as the signal strength indication value; when the target signal strength indicating value exists, taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value; and when the target signal strength indicating value does not exist, taking a signal strength indicating value with the minimum difference value with the signal strength indicating value in the fingerprint database as the target signal strength indicating value, and taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a terminal device positioning apparatus, applied to a positioning gateway, including: the judging module is used for responding to a positioning request sent by the terminal equipment and judging whether the terminal equipment is positioned in a preset positioning range; the signal acquisition module is used for sending a signal acquisition request to the terminal equipment when the terminal equipment is judged to be positioned in a preset positioning range, so that the terminal equipment determines a target signal transceiver based on signal strength and receives a signal distance corresponding to the target signal transceiver sent by the target signal transceiver; and the positioning module is used for calculating the position information of the terminal equipment according to the signal distance corresponding to the target signal transceiver.
According to a fifth aspect of the embodiments of the present disclosure, there is provided a terminal device positioning apparatus, applied to a terminal device, including: the request module is used for sending a positioning request to the positioning gateway; the signal receiving module is used for receiving a signal acquisition request sent by the positioning gateway when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range; the determining module is configured to determine a target signal transceiver based on the signal strength, so that the target signal transceiver sends a signal distance corresponding to the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the location information of the terminal device according to the signal distance corresponding to the target signal transceiver.
According to a sixth aspect of the embodiments of the present disclosure, there is provided a terminal device positioning apparatus, applied to a signal transceiver, including: the signal strength receiving module is used for receiving a signal strength indicated value sent by the terminal equipment when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range; the signal distance query module is used for querying a signal distance corresponding to the signal strength indicated value based on a pre-configured fingerprint library; and the signal distance sending module is used for sending the signal distance to a positioning gateway so that the positioning gateway can calculate the position information of the terminal equipment according to the signal distance.
According to a seventh aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the terminal device positioning method as in the above embodiments.
According to an eighth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus, including: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the terminal device positioning method as in the above embodiments.
Exemplary embodiments of the present disclosure may have some or all of the following benefits:
in the technical solutions provided in some embodiments of the present disclosure, when it is determined that the terminal device is located within a preset positioning range exceeding a 100 ° conical angle range, a signal acquisition request is sent to the terminal device, so that the terminal device selects target signal transceivers with higher received signal strength to determine signal distances corresponding to the target signal transceivers, and finally, the position information of the terminal device is calculated by using trilateration according to the signal distances of the target signal transceivers, so that on one hand, the problem of positioning accuracy of the terminal device exceeding the 100 ° conical angle range is improved, and on the other hand, resource waste caused by upgrading all regions into high-accuracy regions is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty. In the drawings:
fig. 1 schematically illustrates a system diagram of a bluetooth AOA terminal device positioning method in the prior art;
fig. 2 schematically illustrates a flowchart of a method for positioning a terminal device in an exemplary embodiment of the present disclosure;
FIG. 3 schematically illustrates a schematic diagram of a trilateration method in an exemplary embodiment of the present disclosure;
fig. 4 schematically illustrates a flow chart of another terminal device positioning method in an exemplary embodiment of the present disclosure;
fig. 5 is a schematic flow chart illustrating a positioning method for a terminal device according to another exemplary embodiment of the disclosure;
FIG. 6 schematically illustrates a signal distance in an exemplary embodiment of the disclosure;
fig. 7 schematically illustrates a flowchart of a further terminal device positioning method in an exemplary embodiment of the present disclosure;
fig. 8 schematically illustrates a composition diagram of a terminal device positioning apparatus in an exemplary embodiment of the present disclosure;
FIG. 9 is a schematic diagram illustrating a component of another positioning apparatus for a terminal device in an exemplary embodiment of the disclosure
Fig. 10 schematically illustrates a composition diagram of a positioning apparatus for a terminal device in an exemplary embodiment of the disclosure;
FIG. 11 schematically illustrates a schematic diagram of a computer-readable storage medium in an exemplary embodiment of the disclosure;
fig. 12 schematically shows a structural diagram of a computer system of an electronic device in an exemplary embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Fig. 1 schematically illustrates a system diagram of a bluetooth AOA terminal device positioning method in the prior art. As shown in fig. 1, in a bluetooth AOA indoor positioning system, there is a bluetooth signal transceiver (i.e., 101) that can receive or transmit bluetooth signals; there are bluetooth terminal devices (i.e., 102 and 103) that also have a function of receiving or transmitting a bluetooth signal.
The high-precision positioning area of the system is a range covered by a cone with a cone angle of 100 degrees below the Bluetooth signal transceiver, such as an area where the Bluetooth terminal device 102 is located, and the positioning precision of the area is in the centimeter level. The area with the conical angle larger than 100 degrees is a non-high-precision positioning area, for example, the area where the bluetooth terminal device 103 is located, and the positioning precision of this part of area is poor and is meter-level precision.
Therefore, aiming at the defects of the prior art, the advantages of Bluetooth AOA positioning are kept in a high-precision positioning area, and meanwhile, a positioning method based on a signal strength indication RSSI value, a fingerprint database and trilateration in an area with a cone angle larger than 100 degrees is provided, so that compensation is carried out on a Bluetooth AOA positioning cone angle limiting part, and the positioning precision is improved.
Implementation details of the technical solution of the embodiments of the present disclosure are set forth in detail below.
Fig. 2 schematically shows a flowchart of a terminal device positioning method in an exemplary embodiment of the present disclosure. As shown in fig. 2, the method for positioning a terminal device is applied to a positioning gateway, and includes steps S201 to S203:
step S201, responding to a positioning request sent by a terminal device, and judging whether the terminal device is located in a preset positioning range;
step S202, when the terminal device is judged to be located within a preset positioning range, a signal acquisition request is sent to the terminal device, so that the terminal device determines a target signal transceiver based on signal strength, and a signal distance between the terminal device and the target signal transceiver, which is sent by the target signal transceiver, is received;
step S203, calculating the location information of the terminal device according to the signal distance between the terminal device and the target signal transceiver and the location information of the target signal transceiver.
In the technical solutions provided in some embodiments of the present disclosure, when it is determined that the terminal device is located within a preset positioning range exceeding a 100 ° conical angle range, a signal acquisition request is sent to the terminal device, so that the terminal device selects target signal transceivers with higher received signal strength to determine signal distances corresponding to the target signal transceivers, and finally, the position information of the terminal device is calculated by using trilateration according to the signal distances of the target signal transceivers, so that on one hand, the problem of positioning accuracy of the terminal device exceeding the 100 ° conical angle range is improved, and on the other hand, resource waste caused by upgrading all regions into high-accuracy regions is avoided.
Hereinafter, each step of the terminal device positioning method in the present exemplary embodiment will be described in more detail with reference to the drawings and the examples.
It should be noted that the terminal device positioning method may be completed by cooperation of the positioning gateway, the terminal device to be positioned, and the signal transceiver. The terminal device positioning method from step S201 to step S203 is specifically executed by the positioning gateway.
In step S201, in response to a positioning request sent by a terminal device, it is determined whether the terminal device is located within a preset positioning range.
In an embodiment of the present disclosure, after the terminal device to be located sends a location request to the location gateway, the location gateway responds to the request to determine whether the terminal device is located within a preset location range. The terminal device may be a bluetooth terminal device or an intelligent terminal device capable of sending signals.
Specifically, the determining whether the terminal device is located within a preset positioning range includes: acquiring high-precision positioning areas corresponding to the signal transceivers respectively; and when the terminal equipment is not in the high-precision positioning area, judging that the terminal equipment is positioned in a preset positioning range.
The preset positioning range is a region outside the cone region of the 100-degree cone angle of each signal transceiver determined based on the traditional bluetooth AOA positioning method. After the high-precision positioning areas corresponding to the signal transceivers configured in advance are obtained, if the terminal equipment to be positioned is not located in the high-precision positioning areas, the terminal equipment is judged to be located in the preset positioning range, and then the new positioning method provided by the application is adopted.
In step S202, when it is determined that the terminal device is located within the preset positioning range, a signal acquisition request is sent to the terminal device, so that the terminal device determines a target signal transceiver based on signal strength, and receives a signal distance between the terminal device and the target signal transceiver, which is sent by the target signal transceiver.
When the positioning method is positioned in a region of a signal transceiver with a conical angle larger than 100 degrees, the positioning method adopts the combination of the RSSI value, the fingerprint database and the trilateration method for positioning.
Specifically, a signal acquisition request is sent to the terminal device, the terminal device indicates an RSSI value according to the received signal strength, a signal transceiver with a higher RSSI value is selected as a target signal transceiver, and then the RSSI value is sent to the target signal transceivers respectively, so that each target signal transceiver queries the signal distance corresponding to the RSSI value from the fingerprint database respectively.
Since the positioning method adopts trilateration, three signal transceivers with the highest RSSI values of the signal strength indicators around the terminal device to be positioned need to be determined as signal transceivers, so as to calculate the position of the terminal device according to the positions of the three target signal transceivers and the signal distances from the terminal device to the three target signal transceivers.
Therefore, before calculating the location information of the terminal device according to the signal distance corresponding to the target signal transceiver, the method further includes: and acquiring the position information of the target signal transceiver. Let the location of the first signal transceiver be (x) 1 ，y 1 ) And the position of the second signal transceiver is noted as (x) 2 ，y 2 ) And the position of the third signal transceiver is noted as (x) 3 ，y 3 )。
Meanwhile, the signal distance between the terminal equipment and each signal transceiver needs to be acquired, and the first signal distance between the terminal equipment and the first signal transceiver is recorded as d 1 And a second signal distance from the second signal transceiver is denoted as d 2 And a third signal distance from a third signal transceiver is denoted as d 3 。
The determination of the target signal transceiver based on the signal strength is performed by the terminal device, and the determination of the signal distance is performed by the target signal transceiver based on the RSSI value, which will be described in detail later.
In step S203, the location information of the terminal device is calculated according to the signal distance between the terminal device and the target signal transceiver and the location information of the target signal transceiver.
In one embodiment of the disclosure, the location gateway calculates the location information of the terminal device by trilateration after receiving the signal distances returned by each target signal transceiver.
Fig. 3 schematically illustrates a schematic diagram of a trilateration method in an exemplary embodiment of the present disclosure. Referring to fig. 3, O is the terminal device to be located, A, B, C are three target signal transceivers, respectively, and the positions (x) of the three target signal transceivers are known 1 ，y 1 )、(x 2 ，y 2 )，(x 3 ，y 3 ) And the distances between the terminal equipment O and the three target signal transceivers are d respectively 1 、d 2 、d 3 Then the terminal device O position (x) can be calculated 0 ，y 0 ) As shown in equation (1):
in one embodiment of the present disclosure, the method further comprises: determining a positioning signal transceiver when the terminal device is in the high-precision positioning region; and forwarding the positioning request of the terminal equipment to the positioning signal transceiver so as to enable the positioning signal transceiver to calculate the position information of the terminal equipment and receive the position information of the terminal equipment returned by the positioning signal transceiver.
Specifically, when the positioning gateway determines that the terminal device is located in the high-precision positioning area, it determines which high-precision positioning area corresponds to which signal transceiver, and then locates the terminal device by using the existing bluetooth AOA positioning technology.
Fig. 4 schematically shows a flowchart of another terminal device positioning method in an exemplary embodiment of the present disclosure. As shown in fig. 4, the terminal device positioning method is applied to a terminal device, and includes steps S401 to S403:
step S401, sending a positioning request to a positioning gateway;
step S402, when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range, receiving a signal acquisition request sent by the positioning gateway;
step S403, determining a target signal transceiver based on the signal strength, so that the target signal transceiver transmits the signal distance between the terminal device and the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the location information of the terminal device according to the signal distance and the location information of the target signal transceiver.
Specifically, in step S403, the determining a target signal transceiver based on the signal strength includes: ranking the signal strength indicator values based on signal strength and determining a first signal strength indicator value, a second signal strength indicator value, and a third signal strength indicator value; and determining the signal transceivers corresponding to the first signal strength indicating value, the second signal strength indicating value and the third signal strength indicating value as the target signal transceiver.
The RSSI is a part of a Bluetooth protocol stack, and is convenient to acquire, once a used fingerprint library is formed, the fingerprint library can be reused, environmental attenuation factors needing to be considered in RSSI ranging are simplified by the fingerprint library, positioning calculation amount is greatly reduced, logic is simple, large resolving resources cannot be occupied, and the method is a compensation scheme for Bluetooth AOA positioning, which is low in power consumption and easy to realize.
The terminal equipment selects three received signal transceivers with the maximum RSSI values as target signal transceivers, and then the RSSI values are respectively sent to the corresponding target signal transceivers.
Fig. 5 schematically illustrates a flowchart of a positioning method for a terminal device in an exemplary embodiment of the disclosure. As shown in fig. 5, the terminal device positioning method is applied to a signal transceiver, and includes steps S501 to S503:
step S501, when a positioning gateway judges that a terminal device is positioned in a preset positioning range, receiving a signal strength indicated value sent by the terminal device;
step S502, inquiring a signal distance corresponding to the signal strength indicating value based on a preset fingerprint database;
step S503, the signal distance is sent to a positioning gateway, so that the positioning gateway calculates the position information of the terminal device according to the signal distance.
Specifically, in step S502, the method further includes: pre-configuring the fingerprint repository, in particular, pre-configuring the fingerprint repository comprises: acquiring signal strength indicated values respectively corresponding to the signal transceivers in different signal distances; storing the signal distance and signal strength indication values to configure the fingerprint library.
Fig. 6 schematically illustrates a schematic diagram of a signal distance in an exemplary embodiment of the present disclosure. The fingerprint database is a database recording the correspondence between the RSSI value and the radial distance from the signal transceiver as the center of the circle, i.e., the signal distance d, as shown in table 1:
table 1 fingerprint library example
| RSSI value | 100 | 99 | 98.5 | 98 | ...... |
| Signal distance d (cm) | 10 | 12 | 14 | 16 | ...... |
The establishment of the fingerprint database requires data acquisition in advance, and then a database is formed according to the acquired RSSI value and the signal distance d, wherein the precision of the database depends on the fine granularity of the RSSI value, and the higher the fine granularity is, the higher the precision is.
The fingerprint library has the advantages that the factor of environmental attenuation caused by RSSI ranging is considered in advance, so that the calculation amount is reduced during positioning, and the direct corresponding relation between the RSSI value and the distance is changed into a simple direct corresponding relation.
In step S502, the querying, based on the preconfigured fingerprint library, a signal distance corresponding to the signal strength indication value includes: querying the fingerprint repository for the presence of a target signal strength indication value that is the same as the signal strength indication value; when the target signal strength indicating value exists, taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value; and when the target signal strength indicating value does not exist, taking a signal strength indicating value with the minimum difference value with the signal strength indicating value in the fingerprint database as the target signal strength indicating value, and taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value.
That is, after the RSSI value is obtained, the presence or absence of the signal distance corresponding to the RSSI value is first inquired from the fingerprint database, and if the RSSI value exists, the corresponding signal distance is directly extracted. If the signal distance corresponding to the value is not recorded in the fingerprint database, the RSSI value closest to the measured value is taken as the target RSSI extraction signal distance as the final result, and if a plurality of RSSI values exist simultaneously, the RSSI values can be taken upwards or downwards or randomly, and the disclosure is not limited specifically herein.
Based on the method, the combination of the signal strength indicator RSSI value, the fingerprint database and the trilateration method is adopted for positioning, and a novel terminal equipment positioning method is provided. Along with the improvement of manufacturing technology and process in recent years, the RSSI technology is greatly improved in the aspects of anti-interference and stability, the precision can reach within 1 meter, meanwhile, the establishment of a fingerprint library also requires that the precision of the radius distance R is in centimeter level, and by combining trilateration, the error caused by the fine granularity of the fingerprint library and RSSI measurement is offset by searching trilateral junction points close to equipment to be positioned as far as possible, compared with the meter level precision of a Bluetooth AOA in a non-high-precision positioning area, the meter level precision can be improved to within the meter level by using the method disclosed by the invention, and the positioning precision of a conical angle coverage range larger than 100 degrees is improved.
Fig. 7 schematically shows a flowchart of a further terminal device positioning method in an exemplary embodiment of the present disclosure. As shown in figure 7 of the drawings,
step S701, the Bluetooth terminal equipment to be positioned transmits signals to a positioning gateway;
step S702, a Bluetooth gateway in a positioning range receives a signal;
step S703, the Bluetooth gateway judges whether the signal source Bluetooth terminal device exceeds a 100-degree conical angle, namely whether the signal source Bluetooth terminal device is within a preset positioning range;
step S704, if the position is not in the preset positioning range, namely in the high-precision positioning area, the position coordinate of the equipment to be positioned can be obtained by adopting the traditional Bluetooth AOA positioning;
step S705, if the location is in the preset location range, that is, in the non-high-precision location area, broadcasting a signal with the Bluetooth terminal equipment ID;
step S706, the corresponding Bluetooth terminal equipment to be located receives the broadcast signal;
step S707, the Bluetooth terminal device screens out three Bluetooth signal transceiver IDs with the maximum RSSI value;
step S708, the Bluetooth terminal equipment sends the RSSI value to a Bluetooth signal transceiver corresponding to the ID;
step S709, the Bluetooth signal transceiver searches a fingerprint database to obtain signal distances d corresponding to the RSSI values of the Bluetooth signal transceiver;
step S710, the Bluetooth signal transceivers return the corresponding signal distances d to the Bluetooth gateway;
step S711, the Bluetooth signal transceiver performs trilateration according to the three distances d and the positions of the three Bluetooth signal transceivers;
and step S712, finally obtaining the position coordinates of the equipment to be positioned.
Fig. 8 schematically illustrates a composition diagram of a terminal device positioning apparatus in an exemplary embodiment of the present disclosure, and as shown in fig. 8, the terminal device positioning apparatus 800 may include a determining module 801, a signal acquiring module 802, and a positioning module 803. Wherein:
a determining module 801, configured to respond to a positioning request sent by a terminal device, and determine whether the terminal device is located within a preset positioning range;
a signal obtaining module 802, configured to send a signal obtaining request to the terminal device when it is determined that the terminal device is located within a preset positioning range, so that the terminal device determines a target signal transceiver based on signal strength, and receives a signal distance corresponding to the target signal transceiver sent by the target signal transceiver;
a positioning module 803, configured to calculate location information of the terminal device according to the signal distance corresponding to the target signal transceiver.
According to an exemplary embodiment of the present disclosure, the signal distance between the terminal device and the target signal transceiver includes: a first signal distance between the terminal device and the first signal transceiver, a second signal distance between the terminal device and the second signal transceiver, and a third signal distance between the terminal device and the third signal transceiver.
According to an exemplary embodiment of the present disclosure, the determining module 801 is configured to obtain high-precision positioning areas corresponding to the signal transceivers, respectively; and when the terminal equipment is not in the high-precision positioning area, judging that the terminal equipment is positioned in a preset positioning range.
According to an exemplary embodiment of the present disclosure, the terminal device positioning apparatus 800 may further include a second positioning module, configured to determine a positioning signal transceiver when the terminal device is in the high-precision positioning area; and forwarding the positioning request of the terminal equipment to the positioning signal transceiver so as to enable the positioning signal transceiver to calculate the position information of the terminal equipment and receive the position information of the terminal equipment returned by the positioning signal transceiver.
The details of each module in the terminal device positioning apparatus 800 have been described in detail in the corresponding terminal device positioning method, and therefore are not described herein again.
Fig. 9 schematically illustrates a composition diagram of another terminal device positioning apparatus in an exemplary embodiment of the present disclosure, and as shown in fig. 9, the terminal device positioning apparatus 900 may include a request module 901, a signal receiving module 902, and a determining module 903. Wherein:
a request module 901, configured to send a location request to a location gateway;
a signal receiving module 902, configured to receive a signal acquisition request sent by the positioning gateway when the positioning gateway determines that the terminal device is located within a preset positioning range;
a determining module 903, configured to determine a target signal transceiver based on the signal strength, so that the target signal transceiver sends a signal distance corresponding to the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the location information of the terminal device according to the signal distance corresponding to the target signal transceiver.
According to an exemplary embodiment of the present disclosure, the determining module 903 is configured to rank the signal strength indicator values based on the signal strength pairs and determine a first signal strength indicator value, a second signal strength indicator value, and a third signal strength indicator value; and determining the signal transceivers corresponding to the first signal strength indicating value, the second signal strength indicating value and the third signal strength indicating value as the target signal transceiver.
The details of each module in the terminal device positioning apparatus 900 are already described in detail in the corresponding terminal device positioning method, and therefore are not described herein again.
Fig. 10 schematically illustrates a composition diagram of another terminal device positioning apparatus in an exemplary embodiment of the present disclosure, and as shown in fig. 10, the terminal device positioning apparatus 1000 may include a signal strength receiving module 1001, a signal distance querying module 1002, and a signal distance transmitting module 1003. Wherein:
a signal strength receiving module 1001, configured to receive a signal strength indicating value sent by a terminal device when a positioning gateway determines that the terminal device is located within a preset positioning range;
a signal distance query module 1002, configured to query, based on a pre-configured fingerprint library, a signal distance corresponding to the signal strength indication value;
a signal distance sending module 1003, configured to send the signal distance to a positioning gateway, so that the positioning gateway calculates the location information of the terminal device according to the signal distance.
According to an exemplary embodiment of the present disclosure, the terminal device positioning apparatus 1000 may further include a fingerprint library module, configured to collect signal strength indication values corresponding to the signal transceivers respectively at different signal distances; storing the signal distance and signal strength indication values to configure the fingerprint library.
According to an exemplary embodiment of the present disclosure, the signal distance query module 1002 is configured to query the fingerprint repository whether there is a target signal strength indication value identical to the signal strength indication value; when the target signal strength indicating value exists, taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value; and when the target signal strength indicating value does not exist, taking a signal strength indicating value with the minimum difference value with the signal strength indicating value in the fingerprint database as the target signal strength indicating value, and taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value.
The details of each module in the terminal device positioning apparatus 1000 are already described in detail in the corresponding terminal device positioning method, and therefore are not described herein again.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
In an exemplary embodiment of the present disclosure, there is also provided a storage medium capable of implementing the above-described method. Fig. 11 schematically illustrates a schematic diagram of a computer-readable storage medium in an exemplary embodiment of the disclosure, and as shown in fig. 11, a program product 1100 for implementing the above method according to an embodiment of the disclosure is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a mobile phone. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. Fig. 12 schematically shows a structural diagram of a computer system of an electronic device in an exemplary embodiment of the disclosure.
It should be noted that the computer system 1200 of the electronic device shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 12, the computer system 1200 includes a Central Processing Unit (CPU)1201, which can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 1202 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data necessary for system operation are also stored. The CPU 1201, ROM 1202, and RAM 1203 are connected to each other by a bus 1204. An Input/Output (I/O) interface 1205 is also connected to bus 1204.
The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output section 1207 including a Display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1208 including a hard disk and the like; and a communication section 1209 including a Network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 1209 performs communication processing via a network such as the internet. A driver 1210 is also connected to the I/O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 1210 as necessary, so that a computer program read out therefrom is mounted into the storage section 1208 as necessary.
In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1209, and/or installed from the removable medium 1211. The computer program, when executed by a Central Processing Unit (CPU)1201, performs various functions defined in the system of the present disclosure.
It should be noted that the computer readable medium shown in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present disclosure also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, and may also be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A terminal device positioning method is applied to a positioning gateway and comprises the following steps:
responding to a positioning request sent by terminal equipment, and judging whether the terminal equipment is positioned in a preset positioning range;
when the terminal equipment is judged to be located within a preset positioning range, sending a signal acquisition request to the terminal equipment so that the terminal equipment determines a target signal transceiver based on signal strength and receives a signal distance between the terminal equipment and the target signal transceiver, wherein the signal distance is sent by the target signal transceiver;
and calculating the position information of the terminal equipment according to the signal distance between the terminal equipment and the target signal transceiver and the position information of the target signal transceiver.
2. The terminal device positioning method according to claim 1, wherein the signal distance between the terminal device and the target signal transceiver comprises: a first signal distance between the terminal device and the first signal transceiver, a second signal distance between the terminal device and the second signal transceiver, and a third signal distance between the terminal device and the third signal transceiver.
3. The method according to claim 1, wherein the determining whether the terminal device is located within a preset positioning range includes:
acquiring high-precision positioning areas corresponding to the signal transceivers respectively;
and when the terminal equipment is not in the high-precision positioning area, judging that the terminal equipment is positioned in a preset positioning range.
4. The method of claim 3, wherein the method further comprises:
determining a positioning signal transceiver when the terminal device is in the high-precision positioning region;
and forwarding the positioning request of the terminal equipment to the positioning signal transceiver so as to enable the positioning signal transceiver to calculate the position information of the terminal equipment and receive the position information of the terminal equipment returned by the positioning signal transceiver.
5. A terminal device positioning method is applied to a terminal device and comprises the following steps:
sending a positioning request to a positioning gateway;
when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range, receiving a signal acquisition request sent by the positioning gateway;
and determining a target signal transceiver based on the signal strength so as to enable the target signal transceiver to send the signal distance between the terminal equipment and the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the position information of the terminal equipment according to the signal distance and the position information of the target signal transceiver.
6. The method of claim 5, wherein determining the target signal transceiver based on the signal strength comprises:
ranking the signal strength indicator values based on signal strength and determining a first signal strength indicator value, a second signal strength indicator value, and a third signal strength indicator value;
and determining the signal transceivers corresponding to the first signal strength indicating value, the second signal strength indicating value and the third signal strength indicating value as the target signal transceiver.
7. A terminal device positioning method is applied to a signal transceiver and comprises the following steps:
when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range, receiving a signal strength indicated value sent by the terminal equipment;
inquiring a signal distance corresponding to the signal strength indicating value based on a pre-configured fingerprint library;
and sending the signal distance to a positioning gateway so that the positioning gateway calculates the position information of the terminal equipment according to the signal distance.
8. The method of claim 7, further comprising: pre-configuring the fingerprint repository, the pre-configuring the fingerprint repository comprising:
acquiring signal strength indicated values respectively corresponding to the signal transceivers in different signal distances;
storing the signal distance and signal strength indication values to configure the fingerprint library.
9. The method for locating a terminal device according to claim 8, wherein the querying for the signal distance corresponding to the signal strength indication value based on the pre-configured fingerprint library comprises:
querying the fingerprint repository for the presence of a target signal strength indication value that is the same as the signal strength indication value;
when the target signal strength indicating value exists, taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value; and
and when the target signal strength indicating value does not exist, taking a signal strength indicating value with the minimum difference value with the signal strength indicating value in the fingerprint database as the target signal strength indicating value, and taking a signal distance corresponding to the target signal strength indicating value as a signal distance corresponding to the signal strength indicating value.
10. A terminal equipment positioning device is characterized in that the device is applied to a positioning gateway and comprises:
the judging module is used for responding to a positioning request sent by the terminal equipment and judging whether the terminal equipment is positioned in a preset positioning range;
the signal acquisition module is used for sending a signal acquisition request to the terminal equipment when the terminal equipment is judged to be positioned in a preset positioning range, so that the terminal equipment determines a target signal transceiver based on signal strength and receives a signal distance corresponding to the target signal transceiver sent by the target signal transceiver;
and the positioning module is used for calculating the position information of the terminal equipment according to the signal distance corresponding to the target signal transceiver.
11. A terminal equipment positioning device is characterized in that the device is applied to terminal equipment and comprises:
the request module is used for sending a positioning request to the positioning gateway;
the signal receiving module is used for receiving a signal acquisition request sent by the positioning gateway when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range;
the determining module is configured to determine a target signal transceiver based on the signal strength, so that the target signal transceiver sends a signal distance corresponding to the target signal transceiver to the positioning gateway, so that the positioning gateway calculates the location information of the terminal device according to the signal distance corresponding to the target signal transceiver.
12. A terminal device positioning device, applied to a signal transceiver, comprises:
the signal strength receiving module is used for receiving a signal strength indicated value sent by the terminal equipment when the positioning gateway judges that the terminal equipment is positioned in a preset positioning range;
the signal distance query module is used for querying a signal distance corresponding to the signal strength indicated value based on a pre-configured fingerprint library;
and the signal distance sending module is used for sending the signal distance to a positioning gateway so that the positioning gateway can calculate the position information of the terminal equipment according to the signal distance.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a terminal device positioning method according to any one of claims 1 to 9.
14. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the terminal device positioning method according to any one of claims 1 to 9.
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