CN115243371A

CN115243371A - Positioning method, positioning device, electronic equipment and storage medium

Info

Publication number: CN115243371A
Application number: CN202210998131.8A
Authority: CN
Inventors: 张陈斌; 袁昊; 李伟强; 杨欣捷; 张琛
Original assignee: Shanghai Pudong Development Bank Co Ltd
Current assignee: Shanghai Pudong Development Bank Co Ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2022-10-25

Abstract

The embodiment of the invention discloses a positioning method, a positioning device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by a target terminal within a first preset scanning duration; determining a single real-time fingerprint database of the target terminal according to the unique identification set and the target fingerprint database; and determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database. In the embodiment, the related information of the available Bluetooth beacon in single positioning is intercepted from the target fingerprint database through the unique identification set of the Bluetooth beacon covered by the target terminal within the first preset scanning duration, and the single real-time fingerprint database of the target terminal is constructed, so that the situation that the Bluetooth beacon in a coverage range cannot be scanned due to short scanning time in the real-time positioning process is avoided, the interference of unavailable information in the real-time positioning process is abandoned, the positioning effectiveness is improved, and the positioning accuracy of the terminal is further improved.

Description

Positioning method, positioning device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of bluetooth positioning technologies, and in particular, to a positioning method and apparatus, an electronic device, and a storage medium.

Background

In an indoor environment, since a Global Positioning System (GPS) signal is shielded by a building, the GPS signal is difficult to penetrate through reinforced cement. Therefore, in the practical application scene of indoor positioning, other signal sources can be selected as the research objects of the indoor positioning system. Because bluetooth module's suitability is higher, can carry on bluetooth module in mobile terminal to realize the indoor location to mobile terminal based on bluetooth module, can wide application in places such as market, traffic hub.

In the prior art, mainstream positioning schemes based on bluetooth are classified into three types: first, fingerprint localization based on Received Signal Strength (RSS); secondly, based on RSS trilateral positioning technology; thirdly, positioning technology based on Angle of Arrival ranging (AOA). In the three positioning schemes, high-precision indoor maps need to be established for trilateral positioning based on RSS, accurate coordinates of bluetooth beacons (beacons) are marked to calculate the exact position of the mobile terminal, and early-stage workload is large and positioning precision is not high. And the Bluetooth positioning technology based on AOA needs Bluetooth beacon to support Bluetooth 5.0 protocol, but the number of devices meeting the requirement is less, and the cost is higher.

The fingerprint positioning technology for Bluetooth RSS ignores the nondeterministic property and the probabilistic property in the Bluetooth beacon broadcasting process, thereby generating larger influence on the positioning effect in practical application, which is specifically represented as follows: firstly, when a mobile terminal starts a radio frequency receiving window to scan a Bluetooth beacon, a broadcast signal of the Bluetooth beacon can be received by the mobile terminal only when the radio frequency receiving window of the mobile terminal and a transmitting window sent by beacon broadcasting are matched with the Bluetooth beacon in time sequence; secondly, suppose the radio frequency range of 2.4GHz bluetooth is 2402MHz 2480MHz, which is divided into 40 channels, numbered 0-39, and 2MHz for each channel, where the broadcast channel is 37, 38, 39. The Beacon broadcasting process and the mobile scanning terminal process can be alternated in three channels, and only when the broadcasting radio frequency channel and the mobile scanning radio frequency channel are the same channel, the mobile terminal can receive the broadcasting signal of the Bluetooth Beacon. Therefore, the bluetooth characteristics may not scan the bluetooth beacon in a short time during the real-time positioning process, thereby causing the reduction of the positioning accuracy.

BRIEF SUMMARY OF THE PRESENT DISCLOSURE

In view of this, the present invention provides a positioning method, an apparatus, an electronic device, and a storage medium, which can improve the effectiveness of positioning, and further improve the positioning accuracy of a terminal.

According to an aspect of the present invention, an embodiment of the present invention provides a positioning method, where the method includes:

acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by a target terminal within a first preset scanning duration;

determining a single real-time fingerprint database of the target terminal according to the unique identification set and a pre-established target fingerprint database;

determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database

According to another aspect of the present invention, an embodiment of the present invention further provides a positioning apparatus, including:

the device comprises a set acquisition module, a signal receiving module and a signal processing module, wherein the set acquisition module is used for acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by a target terminal within a first preset scanning duration;

the fingerprint database determining module is used for determining a single real-time fingerprint database of the target terminal according to the unique identification set and a pre-established target fingerprint database;

and the position determining module is used for determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database.

According to another aspect of the present invention, an embodiment of the present invention further provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the positioning method according to any of the embodiments of the invention.

According to another aspect of the present invention, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the positioning method according to any embodiment of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the related information of the available Bluetooth beacon in single positioning is intercepted from the pre-established target fingerprint database through the unique identification set of the Bluetooth beacon covered by the target terminal within the first preset scanning duration, and the single real-time fingerprint database of the target terminal is constructed, so that the condition that the Bluetooth beacon in a coverage range cannot be scanned due to short scanning time in the real-time positioning process is avoided, the interference of unavailable information in the real-time positioning process is abandoned, the positioning effectiveness is improved, and the positioning accuracy of the terminal is further improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a definition scenario composed of a bluetooth beacon and a target terminal according to an embodiment of the present invention;

fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of distribution of bluetooth beacons and sampling points when a fingerprint library is created according to an embodiment of the present invention;

fig. 5 is a flowchart of another positioning method according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a comparison of runtime of various parts of a system according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating a comparison of positioning errors of different systems according to an embodiment of the present invention;

fig. 8 is a block diagram of a positioning apparatus according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In an embodiment, fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention, where the embodiment is applicable to a case of performing indoor positioning on a mobile terminal, and the method may be executed by a positioning device, where the positioning device may be implemented in a form of hardware and/or software, and the positioning device may be configured in a client of an electronic device. The client may be, for example, a standalone Application (APP) or a third-party applet. It should be noted that, in order to implement the positioning scheme of the terminal, an independent application program or a third-party applet is configured in the target terminal. The target terminal may include, but is not limited to: and terminal equipment such as smart phones and iPads integrated with Bluetooth modules.

S110, acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by the target terminal in a first preset scanning duration.

The first preset scanning duration refers to the total duration of scanning the Bluetooth beacon by the target terminal in the real-time positioning process. It is understood that the first preset duration is the total duration of a single real-time positioning. In an actual operation process, in order to ensure real-time performance of positioning, the first preset time period may be set manually, or may be set correspondingly according to experimental experience, and it should be noted that the first preset scanning time period is usually scanning performed in a short time. For example, the first preset scanning duration may be 3s or 5s, and the first preset scanning duration is not limited in this embodiment.

In an embodiment, in the effective coverage area of the target terminal, all bluetooth beacons which can be covered by the target terminal are detected, and the received signal strength value of each bluetooth beacon relative to the target terminal in the effective coverage area is detected. It should be noted that the number of the bluetooth beacons that can be covered by the target terminal within the first preset scanning duration may be 1, or may be multiple, and in the process of scanning the covered bluetooth beacons, the bluetooth function of the target terminal is in an activated state.

In an embodiment, each bluetooth beacon corresponds to a unique identifier. It is to be understood that the unique identifier is used to characterize the identity of the bluetooth beacon. For example, the unique identifier may be a MAC address of the bluetooth beacon, may also be a UUID of the bluetooth beacon, may be an IMEI number of the bluetooth beacon, and the like, and the embodiment is not limited herein. Correspondingly, the unique identifier set refers to a set formed by unique identifiers corresponding to all bluetooth beacons in the coverage area of the target terminal. It is to be understood that the set of unique identifiers includes at least one unique identifier. Of course, the number of the unique identifiers included in the unique identifier set is related to the number of the bluetooth beacons covered by the target terminal. In the case that two or more unique identifiers are included in the unique identifier set, the unique identifiers may be sorted according to a preset sorting order. Illustratively, the preset arrangement order may be arranged in ascending order of bluetooth beacon numbers, or arranged in order of bluetooth beacons being scanned. Illustratively, assuming that the number of the bluetooth beacons covered by the target terminal is 3 (for example, bluetooth beacon 1, bluetooth beacon 2, and bluetooth beacon 3, respectively) in ascending order of bluetooth beacon numbers, and the unique identifier corresponding to each bluetooth beacon is denoted as MAC1, MAC2, and MAC3, the unique identifier set formed thereby may be denoted as [ MAC1, MAC2, and MAC3].

The received signal strength value refers to the received signal strength of the bluetooth beacon covered by the target terminal. The received signal strength value set refers to a set formed by received signal strength values corresponding to all Bluetooth beacons in the coverage area of the target terminal. Exemplarily, assuming that the received signal strength values of the target terminal for the covered 3 bluetooth beacons are RSS1, RSS2, RSS3, respectively, the received signal strength value set can be represented as [ RSS1, RSS2, RSS3].

In this embodiment, when a start instruction of a client in a target terminal is detected, in a target positioning scene within a first preset scanning duration, a unique identifier corresponding to each bluetooth beacon in a coverage area of the target terminal is obtained, a corresponding unique identifier set is formed by the unique identifiers, a received signal strength value for each bluetooth beacon in target coverage in an effective coverage area is obtained, and a corresponding received signal strength value set is formed by the received signal strength values.

For example, to better understand the target scene during real-time positioning, fig. 2 is a schematic diagram of a defined scene composed of bluetooth beacons and a target terminal according to an embodiment of the present invention. As shown in fig. 2, it is assumed that the target terminal is a smart phone, 5 bluetooth beacons are uniformly distributed in a scene a, and each bluetooth beacon has a corresponding unique identifier. In the real-time positioning process, each scanning time of the target terminal is 3s, the target terminal can scan at least one Bluetooth beacon within 3s, and a received signal strength value of each Bluetooth beacon relative to the target terminal is obtained.

And S120, determining a single-time real-time fingerprint database of the target terminal according to the unique identification set and a pre-established target fingerprint database.

The target fingerprint database refers to fingerprint data of each sampling point in a scene where the target terminal is located currently. The fingerprint data comprises a received signal strength value of each sampling point relative to each Bluetooth beacon and a coordinate value corresponding to each sampling point in a physical position coordinate system (X, Y).

In this embodiment, a unique identifier set corresponding to a bluetooth beacon scanned by a target terminal within a first preset scanning time is obtained, and fingerprint data matched with each unique identifier in the unique identifier set is captured from a pre-created target fingerprint database, so as to determine a single real-time fingerprint database of the target terminal according to the unique identifier set and the matched fingerprint data. It should be noted that the single live fingerprint database is data information intercepted from the target fingerprint database based on the unique identification set. The single real-time fingerprint database comprises a received signal strength value of each Bluetooth beacon associated with the unique identification set corresponding to the sampling point and a coordinate value corresponding to each sampling point in a physical position coordinate system in a target positioning scene.

And S130, determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database.

In this embodiment, in the first preset scanning duration, the received signal strength value and the single real-time fingerprint database corresponding to each bluetooth beacon in the coverage area of the target terminal may be determined, so as to determine the current location position of the target terminal. Specifically, within a first preset scanning duration, the received signal strength values corresponding to each bluetooth beacon within the coverage area of the target terminal are obtained, and a corresponding received strength value set is formed. And then, acquiring a received signal strength value of the Bluetooth beacon associated with the unique identification set from the single real-time fingerprint database, forming a corresponding received signal strength value set by the received signal strength values, determining Euclidean distances of corresponding sampling points according to the received signal strength value set and the received signal strength value of the Bluetooth beacon associated with the unique identification set, determining a target sampling point by the Euclidean distance of each sampling point, and determining the current positioning position of the target terminal according to the weight value and the positioning position of the target sampling point.

According to the technical scheme, the relevant information of the available Bluetooth beacon in single positioning is intercepted from the pre-established target fingerprint database through the unique identification set of the Bluetooth beacon covered by the target terminal within the first preset scanning duration, the obtained single real-time fingerprint database of the target terminal is constructed, the condition that the Bluetooth beacon within the coverage range cannot be scanned due to short scanning time during real-time positioning is avoided, interference of the unavailable information in real-time positioning is eliminated, and the positioning accuracy of the terminal is improved on the basis of not increasing the positioning time.

In an embodiment, fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention, and the present embodiment explains a process of creating a target fingerprint database based on the above embodiments. As shown in fig. 3, the positioning method in this embodiment may specifically include the following steps:

s310, acquiring unique identifications of all Bluetooth beacons in the target positioning scene.

The target positioning scene refers to an indoor related scene currently performing positioning, the target positioning scene may be an indoor scene of a certain market, a scene of a certain office building, and the like, and the positioning scene is not limited in this embodiment.

In this embodiment, all bluetooth beacons in the coverage area of the target positioning scene are searched from the selected target positioning scene, and the unique identifier corresponding to each bluetooth beacon is obtained. Of course, the number of bluetooth beacons in the target positioning scene is not limited, and may be 1 or multiple. For example, assuming that a target location scene includes 5 bluetooth beacons, and an MAC address is used as a unique identifier of the bluetooth beacon, the MAC addresses of the 5 bluetooth beacons in the target location scene may be obtained.

And S320, constructing a corresponding database index according to the unique identifiers of all the Bluetooth beacons and the pre-established physical position coordinate system of the target positioning scene.

The physical location coordinate system may be a two-dimensional coordinate of a physical space. Illustratively, the physical location coordinate system may be represented as (x, y). It should be noted that the database index refers to a structure for sorting values of one or more columns in a database table, and specific information in the database table can be quickly accessed by using the index. In an embodiment, the index of the database includes a unique identifier corresponding to each bluetooth beacon and a coordinate value of a physical space, and for example, assuming that two bluetooth beacons are included in a target location scene, the database index includes: the unique identifiers MAC1 and MAC2 of the bluetooth beacon and the spatial coordinates of the physical position coordinate system (x, y) may use MAC1, MAC2, x, y as rows of the database index, and the bluetooth beacon uniquely identified as MAC1 and MAC2 and the related information corresponding to the physical position coordinate system (x, y) may be quickly searched by using the database index.

In this embodiment, according to the unique identifiers of all bluetooth beacons in the currently acquired target positioning scene and the physical location coordinate system in the pre-established target positioning scene, an index formed by the physical location coordinate system in the pre-established target positioning scene and the unique identifiers corresponding to the bluetooth beacons arranged in a fixed sequence may jointly form a completed database index. It should be noted that, in order to ensure the integrity and uniformity of the database index, the horizontal index in the database index is fixed as the unique identifier of all bluetooth beacons in a fixed pre-ordering. Illustratively, the coordinate system of the physical location in the pre-established object location scene is marked as (X, Y) by two-dimensional coordinates of the physical space, the index formed by the sequence of the MAC addresses of the fixed bluetooth beacons is denoted as [ MAC1, MAC2, MAC3, MAC4, MAC5], and the database index formed by the two together can be denoted as [ MAC1, MAC2, MAC3, MAC4, MAC5, X, Y ].

And S330, determining the target received signal strength value of each sampling point in the target positioning scene relative to each Bluetooth beacon.

The number of the sampling points in the target positioning scene may be 1, or may be multiple, and this embodiment is not limited herein. The sampling points are uniformly distributed in the target positioning scene to ensure that the sampling points in the target scene can be scanned by the target terminal through the Bluetooth signals. The target received signal strength value may be understood as a received signal strength value obtained after mean filtering the initial received signal strength value of each bluetooth beacon at each sampling point in the target positioning scene. It should be noted that each sampling point in the target positioning scene has only one target received signal strength value relative to each bluetooth beacon; and the initial received signal strength value of each sampling point relative to each bluetooth beacon can be one or more.

In this embodiment, at least one sampling point is uniformly set in the target positioning scene, and each sampling point may be marked correspondingly in the form of two-dimensional coordinates of a physical space. Illustratively, the first sample point is labeled (x _1, y _1), the second sample point is labeled (x _2, y _2), and so on for the sample points in the object localization scene.

In this embodiment, determining the target received signal strength value of each sampling point relative to each bluetooth beacon in the target positioning scenario can be divided into two cases, one is: the target terminal may scan the bluetooth beacon within a second preset scanning duration, which specifically includes: scanning the Bluetooth beacons in a second preset scanning duration for sampling points in each target positioning scene by using a target terminal, wherein the same Bluetooth beacon may be repeatedly scanned in the scanning process, at least one initial received signal strength value corresponding to the Bluetooth beacon is obtained by scanning each sampling point, and then the at least one received signal strength value is averaged to obtain a target received signal strength value of each sampling point relative to each Bluetooth beacon in the target positioning scene; another is a situation that the target terminal does not scan the bluetooth beacon within a second preset scanning duration, which specifically includes: when the sampling point in each target positioning scene is scanned with the Bluetooth beacon in the preset scanning time length by using the target terminal and the like, under the condition that the Bluetooth beacon cannot be scanned in the second preset scanning time length, configuring a target received signal strength value corresponding to the unique identifier of the unscanned Bluetooth beacon into a preset received signal strength value, and taking the preset received signal strength value as the target received signal strength value.

In an embodiment, for a case that the target terminal scans at least one bluetooth beacon within the second preset scanning duration, determining a target received signal strength value of each sampling point in the target positioning scene relative to each bluetooth beacon includes:

continuously sampling each sampling point in the target positioning scene for a second preset scanning duration to obtain at least one initial received signal strength value of the Bluetooth beacon corresponding to each sampling point; the second preset scanning duration is longer than the first preset scanning duration;

and performing mean value filtering on the initial received signal strength value of each Bluetooth beacon to obtain a target received signal strength value of each sampling point relative to each Bluetooth beacon.

The second preset scanning duration refers to a duration for scanning the bluetooth beacon by using the target terminal for each sampling point, and the second preset duration is generally a duration for long-time continuous sampling. It should be noted that the second preset scanning duration is longer than the first preset scanning duration, and the second preset scanning duration may be manually set or set according to experience. For example, the second preset time period may be 30s, and may also be 1min. The initial received signal strength value refers to one or more initial received signal strength values of the bluetooth beacon obtained by performing continuous scanning on the target terminal within a second preset time period. The target received signal strength value refers to a final received signal strength value of the bluetooth beacon obtained by performing mean filtering on one or more initial received signal strength values.

In this embodiment, in the process of scanning the bluetooth beacon for the preset scanning duration for the sampling points in each target location scene, some bluetooth beacons may be scanned by the target terminal multiple times, so that the initial received signal strength values corresponding to the bluetooth beacons, which are scanned for multiple times, are multiple, and under the condition that the initial received signal strength values of each bluetooth beacon are multiple, the multiple initial received signal strength values of each bluetooth beacon need to be subjected to mean filtering to ensure that only one target signal strength value corresponding to the unique identifier of the bluetooth beacon is provided. Certainly, if the bluetooth beacon is scanned by the target terminal only once in the scanning process, the corresponding initial received signal strength value of the bluetooth beacon is also 1 at this time.

In an embodiment, for a case that the target terminal does not scan the bluetooth beacon within the second preset scanning duration, determining a target received signal strength value of each sampling point in the target positioning scene relative to each bluetooth beacon includes:

determining that the unique identifier of the Bluetooth beacon is not scanned by each sampling point within a second preset scanning duration;

and configuring the target received signal strength value corresponding to the unique identifier of the unscanned Bluetooth beacon as a preset received signal strength value.

The preset rssi value refers to a predetermined rssi value. It is understood that the rssi value is preset to a constant value. In the embodiment, in the process of scanning the bluetooth beacon for the sampling point in each target positioning scene by the second preset scanning duration, when the bluetooth beacon is not scanned, a received signal strength value configured for the bluetooth beacon is configured.

In this embodiment, if the bluetooth beacon is not scanned within the second preset scanning duration, the unique identifiers of all the bluetooth beacons are searched from the original fingerprint database, and the unique identifiers of all the bluetooth beacons are screened out from the original fingerprint database, wherein the unique identifier of the bluetooth beacon is not scanned at each sampling point in the second preset scanning duration. And configuring the target received signal strength value corresponding to the unique identifier of the unscanned Bluetooth beacon as a preset received signal strength value. It should be noted that since the indoor positioning area is often larger than the coverage area of the bluetooth beacon, a single sampling point may not be covered by all bluetooth beacons. Generally, the received signal strength value of the bluetooth beacon is generally in the range of-45 to-90, the RSS value of the bluetooth beacon which is not scanned by the sampling data of a single sampling point in the complete database may be less than-90, and the preset received signal strength value may be-100. In the case that the received signal strength value of a bluetooth beacon is-100, it means that the bluetooth beacon cannot cover the current sampling point. For example, if there is no unique identifier of the scanned bluetooth beacon within the second preset scanning duration 30s, the received signal strength value corresponding to the uniquely identified bluetooth beacon is configured to be-100.

S340, obtaining a corresponding target fingerprint database based on the target received signal strength value and a pre-established original fingerprint database; wherein the original fingerprint database is created based on the database index.

And the target fingerprint database is a database obtained by filling the coordinate value of each sampling point and the received signal strength value of each sampling point relative to each Bluetooth beacon on the basis of the original fingerprint database. The original fingerprint database is created based on a database index constructed by unique identification of each Bluetooth beacon in a target positioning scene and a pre-established physical position coordinate system of the target positioning scene. Of course, the sequence number of each sampling point in the target positioning scene is also contained in the original fingerprint database.

In this embodiment, the target received signal strength value corresponding to the unique identifier of the bluetooth beacon corresponding to the sampling point in the target positioning scene is input into the pre-created original fingerprint database, so as to obtain the target fingerprint database. Illustratively, the sample point in the target location scenario is n, and the sample point n may be represented as [ RSS1_ n, RSS2_ n, \ 8230 ], RSS10_ n, X _ n, Y _ n ] with respect to the target received signal strength value of each bluetooth beacon. Where RSS1 — n denotes: and the unique identifier is an average value obtained by filtering the original RSS value scanned at the sampling point n by the Bluetooth beacon with the MAC1, namely the target received signal strength value. And inputting the target received signal strength value of the Bluetooth beacon into a pre-established original fingerprint database to obtain a corresponding target fingerprint database, and storing the target fingerprint database.

And S350, acquiring the unique identification set and the received signal strength value set of the Bluetooth beacon covered by the target terminal in the first preset scanning duration.

And S360, performing mean value filtering on the received signal strength value of each Bluetooth beacon covered by the target terminal.

In this embodiment, in the target location scene, in order to ensure the real-time performance of location, the target terminal may scan the received signal strength value of each bluetooth beacon covered in the target location scene within the following first preset scanning duration, and since the received signal strength value of the same bluetooth beacon may be scanned for multiple times, the received signal strength values corresponding to the bluetooth beacons acquired multiple times need to be subjected to mean filtering processing.

It should be noted that the target terminal may be located outside the bluetooth broadcast range of some bluetooth beacons and cannot obtain the corresponding received signal strength value. In addition, some broadcast ranges of the bluetooth beacons can cover the target terminal, but because the scanning time of the target terminal is too short, the receiving time window of the target terminal is not matched with the scanning time window of the bluetooth beacon, and the corresponding received signal strength value cannot be obtained, the bluetooth beacons which cannot obtain the received signal strength values are not filled any more in the real-time positioning process.

And S370, determining a single real-time fingerprint database of the target terminal according to the unique identification set and the pre-created target fingerprint database.

And S380, determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database.

In the fingerprint database establishment phase, a situation that a bluetooth beacon is scanned for a plurality of times may occur in a long-time sampling process of a single sampling point, in order to improve robustness, mean value filtering needs to be performed on the received signal strength values of the sampled bluetooth beacons, it is ensured that only one received signal strength value of a single bluetooth beacon in the bluetooth coverage range of a sampling point is in the fingerprint database, and the complete fingerprint of the sampling point is formed by the mean values of the received signal strength values of the bluetooth beacons in a plurality of coverage ranges.

In an embodiment, before constructing the corresponding database index according to the unique identifiers of all bluetooth beacons and the physical location coordinate system of the pre-established target positioning scene, the method further includes:

uniformly arranging all Bluetooth beacons in a target positioning scene;

and at least two sampling points are uniformly configured in the target positioning scene.

In this embodiment, all bluetooth beacons in the target positioning scene are uniformly arranged in the target positioning scene, and at least two sampling points need to be uniformly configured in the target positioning scene, so as to ensure that all positions to be positioned in the scene are at least covered by a part of beacon bluetooth broadcast range.

For example, to better understand the distribution of bluetooth beacons and sampling points in a target scene when creating a fingerprint library, fig. 4 is a schematic diagram of the distribution of bluetooth beacons and sampling points in creating a fingerprint library according to an embodiment of the present invention, as shown in fig. 4, the bluetooth beacons and sampling points are uniformly distributed in the target scene, and each bluetooth beacon has a corresponding unique identifier. When the fingerprint library is created, for each sampling point, the target terminal is used for scanning the Bluetooth beacon, the scanning time can be 1min, the number of the Bluetooth beacons which can be detected in the scanning time can be effectively detected through the scanning of the target terminal, and the received signal strength value corresponding to the scanned Bluetooth beacon is obtained. For example, 5 existing sampling points are available, the target terminal can scan the sampling points, namely sampling point 1, sampling point 2 and sampling point 3, and cannot scan sampling point 4 and sampling point 5, so that the corresponding received signal strength values of sampling point 1, sampling point 2 and sampling point 3 can be obtained, and the received signal strength values of sampling point 4 and sampling point 5 are configured to be-100.

In an embodiment, fig. 5 is a flowchart of another positioning method provided in an embodiment of the present invention, and in this embodiment, based on the foregoing embodiments, further refinement is performed on determining a single-shot live fingerprint library of a target terminal according to a unique identifier set and a pre-created target fingerprint database, and determining a current positioning location of the target terminal according to a received signal strength value set and the single-shot live fingerprint library, as shown in fig. 5, a positioning method in this embodiment may specifically include the following steps:

s510, acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by a target terminal in a first preset scanning duration.

S520, intercepting fingerprint data matched with each unique identifier in the unique identifier set from a target fingerprint database which is created in advance.

The fingerprint data refers to the unique identifiers corresponding to all bluetooth beacons corresponding to a certain sampling point in the target fingerprint database, and the received signal strength values corresponding to the physical position coordinate system (X, Y).

In this embodiment, screening is performed in a target fingerprint database created in advance, and fingerprint data matched with each unique identifier in the unique identifier set is intercepted, so as to determine a single real-time fingerprint database of the target terminal according to the unique identifier set and the fingerprint data. Illustratively, 2 bluetooth beacons respectively corresponding to unique identifiers MAC1 and MAC2 scanned by the target terminal within 3s are represented as [ RSS1 and RSS2], and then fingerprint data matched with [ MAC1, MAC2, X, Y ] respectively corresponding to MAC1 and MAC2 is intercepted from a pre-created target fingerprint database according to 2 bluetooth beacons respectively corresponding to unique identifiers MAC1 and MAC2 scanned by the target terminal within 3s.

Illustratively, to facilitate better understanding, fingerprint data matching each unique identifier in the unique identifier set is intercepted in a pre-created target fingerprint database, and table 1 is a pre-created target fingerprint database table provided in an embodiment of the present invention, and as shown in table 1, the pre-created target fingerprint database table includes unique identifiers of 5 bluetooth beacons, which are sequentially denoted as [ MAC1, MAC2, MAC3, MAC4, MAC5, X, Y ], where (X, Y) denotes a two-dimensional coordinate system in a physical space. The target terminal is used to scan 5 sampling points, RSS1_1 in table 1 is represented as a unique MAC1 of the bluetooth beacon, the average value corresponding to the received signal strength value scanned at sampling point 1, and the specific explanation of RSS2_1 in the corresponding table and the like can be analogized, which is not described in detail here.

Table 1: pre-created target fingerprint database table

As shown in table 1, a line of data corresponding to each sample point can be represented as a piece of fingerprint data. For example, in table 1, the corresponding unique identifier of all bluetooth beacons corresponding to sampling point 1 and the physical location coordinate system X, Y can be used as a piece of fingerprint data. That is, in the target fingerprint database table created in advance, the fingerprint data corresponding to sample point 1 are represented as RSS1_1, RSS1_2, RSS1_3, RSS1_4, RSS1_5, X _1, and Y _1. Wherein, X _1 and Y _1 corresponding to the sampling point 1 refer to two-dimensional coordinate values of the sampling point 1 in the physical position coordinate system.

In this embodiment, if the target terminal scans the bluetooth beacons whose unique identifiers are MAC1 and MAC2, respectively, within a first preset time period, the received signal strength value sets corresponding to MAC1 and MAC2 within the preset time period are denoted as [ RSS1 and RSS2], and fingerprint data matched with each unique identifier in the [ MAC1 and MAC2] set is intercepted from a pre-created target fingerprint database.

And S530, determining a single real-time fingerprint database of the target terminal according to the unique identification set and the fingerprint data.

In this embodiment, a single-time real-time fingerprint database of the target terminal may be determined according to the unique identifier set and the fingerprint data of the bluetooth beacon covered by the target terminal within the first preset scanning duration.

Illustratively, the target terminal scans bluetooth beacons with unique identifiers of MAC1 and MAC2 within 3s, the received signal strength value set corresponding to MAC1 and MAC2 within the sampling time is denoted as [ RSS1 and RSS2], and data corresponding to [ MAC1, MAC2, X and Y ] indexes corresponding to the bluetooth beacons with unique identifiers of MAC1 and MAC2 scanned by the target terminal within 3s is intercepted from a pre-created target fingerprint database as a single real-time fingerprint database. Illustratively, the bluetooth beacon with MAC addresses of MAC1 and MAC2 and the coordinate information (X, Y) of the corresponding physical space are intercepted from table 1, and the intercepted data information can be represented as table 2, as shown in table 2, all received signal strength values of 5 sampling points corresponding to MAC1 and MAC2 of the bluetooth beacon and coordinate values of each sampling point can be obtained after the interception, and a corresponding single real-time fingerprint library is constructed.

Table 2: single real-time fingerprint database obtained after interception

And S540, acquiring a received signal strength value corresponding to the unique identification set of each fingerprint in the single real-time fingerprint library.

In this embodiment, the received signal strength value corresponding to the unique identifier set of each fingerprint is obtained from the single live fingerprint library. For example, in the unique identifier set corresponding to the unique identifiers of all bluetooth beacons corresponding to the sampling point 1 obtained from table 2, the received signal strength value corresponding to each unique identifier may be represented as RSS1_1, RSS2_1, X _1, and Y _1.

And S550, determining a target sampling point according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint.

The target sampling point refers to the sampling point with the minimum Euclidean distance. In an embodiment, the number of target sampling points is at least one. In this embodiment, the target sampling point may be determined according to the received signal strength value set of the bluetooth beacon covered by the target terminal and the received signal strength value corresponding to the unique identifier set of each fingerprint in the first preset scanning duration. Specifically, the euclidean distance of the corresponding sampling point may be determined according to the received signal strength value set and the received signal strength value corresponding to the unique identifier set of each fingerprint, and then the target sampling point may be determined according to the euclidean distance of each sampling point.

In one embodiment, determining the target sample point according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint includes:

determining Euclidean distances of corresponding sampling points according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint;

and determining a target sampling point according to the Euclidean distance of each sampling point.

The euclidean distance may also be referred to as a euclidean distance or a euclidean metric, and refers to a straight line distance between two points in euclidean space.

In this embodiment, the euclidean distance of the corresponding sampling point is determined according to the received signal strength value set and the received signal strength value corresponding to the unique identifier set of each fingerprint, and the target sampling point is determined according to the euclidean distance of each sampling point. Illustratively, [ RSS1, RSS2, RSS3] of received signal strength values RSS within 3s are used]MAC address column [ MAC1, MAC2, MAC3, X, Y ] of all fingerprints in single real-time fingerprint library]Corresponding RSS data [ RSS1_ n, RSS2_ n, RSS3_ n]Calculating Euclidean distance, taking the fingerprint of the nth sample point as an exampleThe calculation method of the Euclidean distance s _ n comprises the following steps:

that is, when n is 1, the formula for calculating the euclidean distance between the first sampling point and the target terminal can be expressed as:

when n is 2, the formula for calculating the euclidean distance between the first sampling point and the target terminal can be expressed as:

and so on.

And S560, determining the current positioning position of the target terminal according to the weight value and the positioning position of the target sampling point.

In this embodiment, the sampling point with the minimum euclidean distance is selected, and the number of the sampling points with the minimum euclidean distance is at least one, so as to calculate the corresponding weight value according to the sampling point with the minimum euclidean distance. For example, the existing 3s internal received signal strength values are [ RSS1, RSS2, RSS3], the received signal strength values [ RSS1_ n, RSS2_ n, RSS3_ n ] of all sampling points in the single live fingerprint library, at this time, euclidean distances between the received signal strength values in 3s and the received signal strength values of all sampling points in the single live fingerprint library are 0.05, 0.1, and 0.15 in sequence, it is known that the number of sampling points with the minimum euclidean distance is 2, the sampling point with the minimum euclidean distance is sampling point 1, sampling point 2, and sampling point 3, and the weighted values of sampling point 1, sampling point 2, and sampling point 3 are weighted values respectively

Wherein s _1 represents the Euclidean distance between the first sampling point and the target terminal, and s _2 represents the Euclidean distance between the second sampling point and the target terminal.

In the embodiment, the current positioning position of the target terminal is determined according to the weight value and the positioning position of the target sampling point. The calculation formula for calculating the current positioning position of the target terminal within the scanning time of 3s is

Finally, the position of the target terminal is obtained

In the embodiment of the invention, firstly, mean value filtering is carried out on the intensity value of a scanned received signal, then, the currently available Bluetooth data is screened from a target fingerprint database established in a target fingerprint database stage reversely through a unique identifier contained in the real-time Bluetooth fingerprint to form a single real-time fingerprint database, finally, the Euclidean distance between the real-time Bluetooth fingerprint and the fingerprint in the single real-time positioning fingerprint database is calculated, physical coordinates (x, y) corresponding to n fingerprints with the minimum Euclidean distance are selected, and weighting summation is carried out according to the Euclidean distance so as to determine the real-time position of the target terminal.

In an embodiment, in order to better understand the positioning method, the following is divided into a creation phase and a real-time positioning phase of a target fingerprint database, and a corresponding description is made on the positioning method of bluetooth RSS according to an embodiment of the present invention.

In this embodiment, beacon identifies the bluetooth beacon in the above embodiment, the MAC address identifies a unique identifier corresponding to the bluetooth beacon, and RSS data represents the received signal strength value in the above embodiment. Exemplarily, it is assumed that the second preset scanning duration is 30 seconds, the first preset scanning duration is 3 seconds, and the preset received signal strength value is-100, that is, within the second preset scanning duration, the position of the target received signal strength value corresponding to the unscanned bluetooth beacon is configured to be-100. The invention fully considers the probability collision problem and uncertainty of communication in the Bluetooth broadcasting process, refines the beacon information of the complete database available in single positioning by reconstructing the single real-time database, abandons the unavailable information, eliminates the interference of the unavailable information in the unavailable real-time positioning, still can obviously improve the positioning precision under the condition of using a simple positioning algorithm, and can neglect the increase of the positioning time consumption.

In the target fingerprint database establishing stage: in the stage of establishing a target fingerprint database, firstly, establishing an index of the target fingerprint database according to the MAC addresses of all beacons; then, take the measure of long-time continuous sampling to the fingerprint of every sampling point, guarantee that the fingerprint of every sampling point can gather the RSS data of the bluetooth beacon in whole bluetooth coverage, carry out mean value filtering to the RSS data of gathering again, save target fingerprint database real-time positioning stage at last: the real-time positioning stage needs to judge the current position of the target terminal in a short time because the real-time positioning is required to meet the positioning instantaneity, and the sampling time is limited. In the short-time Bluetooth scanning process, the data of RSS data of all Bluetooth beacons acquired and scanned by a target terminal is limited, and real-time Bluetooth fingerprints cannot guarantee that the beacons in all broadcast coverage ranges are acquired.

It should be noted that the target fingerprint database may be understood as a database of complete fingerprint data; whereas a single real-time database refers to a database of partial fingerprint data.

The first stage is as follows: target fingerprint database establishment phase

and a1, counting MAC addresses of all beacons, arranging the MAC addresses according to a preset sequence, and using the MAC addresses as beacon indexes of a target fingerprint database.

For example, assume that there are ten beacon in this scenario, fixing their MAC address orderings as [ MAC1, MAC2, MAC3, \8230;, MAC10].

a2, uniformly arranging all beacons in a positioning scene, and ensuring that all positions needing positioning in the scene are at least covered by the Bluetooth broadcast range of part beacons.

a3, establishing a physical position coordinate system x, y in a positioning scene, and sequencing the x, y and the fixed MAC address in a1 to jointly form a target database index [ MAC1, MAC2, \ 8230;, MAC10, x, y ].

and a4, uniformly arranging n sampling points in the indoor scene, wherein the sampling points are marked by two-dimensional coordinates (x _1, y _1), (x _2, y _2) \8230; (x _ n, y _ n) of a physical space.

and a5, scanning the Bluetooth signals by using the target terminal for each sampling point, wherein the scanning time is 30s.

In this embodiment, it should be noted that, in a scanning process, some bluetooth beacons may be scanned several times, so that the bluetooth beacons may obtain several RSS values, and an average value of multiple RSS values obtained by the beacons in one scanning process is obtained, so that only one RSS value of a MAC address corresponding to one beacon is ensured. Further, no beacon is scanned within 30s of scanning time, and the RSS corresponding to the MAC address is filled in to-100.

a6, taking sample point n as an example, the RSS data of sample point n is [ RSS1_ n, RSS2_ n, \ 8230 ], RSS10_ n, x _ n, y _ n ], where RSS1_ n represents the average of RSS scanned at sample point n by beacon with MAC address MAC 1. The RSS data of 10 bluetooth beacons are filled into the fingerprint database to form a complete database.

and a7, storing a target fingerprint database.

In this embodiment, a situation that one beacon is scanned several times may occur in a long-time sampling process of a single sampling point, and for improving robustness, mean filtering needs to be performed on RSS data of the sampled bluetooth beacon, so that it is ensured that only one RSS value of the single beacon in a bluetooth coverage range of the sampling point is in a target fingerprint database, and a complete fingerprint of the sampling point is formed by RSS mean values of the bluetooth beacons in multiple coverage ranges.

And a second stage: real-time positioning phase

And b1, in a positioning scene, in order to ensure the positioning real-time performance, the scanning time of the target terminal is 3s each time. In the present embodiment, 3 seconds is represented as the first preset scanning duration in the above embodiment. It should be noted that, similar to the operation of the target fingerprint database, the RSS values of the single beacon acquired multiple times need to be mean filtered.

b2, the target terminal may be located outside the Bluetooth broadcast range of some beacons and cannot acquire the RSS value. In addition, some beacon broadcasting ranges can cover the target terminal, but the scanning time is too short, the receiving window of the target terminal is not matched with the scanning window of the beacon, the number of channels is not matched, and the RSS value cannot be acquired. Such beacons that cannot acquire RSS are not filled any more in the real-time positioning stage.

And b3, screening the complete database according to the data acquired by the target terminal. For example, when the beacon with MAC addresses of MAC1, MAC2, and MAC3 is scanned in the target terminal 3s, the RSS data in the sampling time may be represented as [ RSS1, RSS2, and RSS3], and then the data corresponding to the [ MAC1, MAC2, MAC3, x, y ] index in the database is captured as the single real-time fingerprint database.

b4, calculating Euclidean distances by using RSS data corresponding to [ RSS1, RSS2 and RSS3] in the RSS data in 3s and MAC address columns [ MAC1, MAC2 and MAC3] of all fingerprints in the single real-time fingerprint library, taking the fingerprint of the nth sampling point as an example, and calculating the Euclidean distance s _ n by the method comprising the following steps:

and b5, calculating Euclidean distances between the RSS data in 3s and the RSS data of all sampling points in the single real-time fingerprint library, and selecting the sampling point with the minimum Euclidean distance as a target sampling point.

Wherein the number of sampling points with the minimum Euclidean distance is at least one. Under the condition that the target sampling points are more than two, the weight values of the corresponding sampling points can be calculated according to the Euclidean distance corresponding to each sampling point.

It should be further noted that, if k =2 is selected, that is, 2 sampling points with the minimum euclidean distance are selected, and sampling point 1 and sampling point 2 and s _2 but s _ > 1 are selected, the weight values of sampling point 1 and sampling point 2 are respectively equal to

b6, calculating the position estimation calculation formula in the scanning time of 3s in the real-time positioning stage as

Finally, the position of the target terminal is obtained

b7, still taking the 3s time window for subsequent real-time positioning, repeating the steps 1 to 7, and calculating to obtain the real-time position of each 3s window.

In this embodiment, fig. 6 is a schematic diagram illustrating comparison of operation times of various parts of a system according to an embodiment of the present invention. The reconstructed database positioning time refers to time consumption required for constructing a single real-time fingerprint database; not reconstructing the database location time refers to the time required to not construct a single live fingerprint library.

As shown in fig. 6, with the same positioning method, the positioning time of the reconstructed database is longer than that of the non-reconstructed database. However, the positioning time is almost negligible compared to the required scanning time. The increased positioning time is substantially imperceptible during use by the user.

Fig. 7 is a schematic diagram illustrating a comparison of positioning errors according to an embodiment of the present invention. As shown in fig. 7, in the field test of the scenario a, the positioning error without reconstructing the database is close to 5m, and the positioning error after reconstructing the database is slightly more than 3m. Therefore, compared with the non-reconstructed database, the reconstructed database has a remarkable positioning effect.

In an embodiment, fig. 8 is a block diagram of a positioning apparatus according to an embodiment of the present invention, which is suitable for use in indoor positioning of a target terminal, and the apparatus may be implemented by hardware/software. The positioning method can be configured in the electronic device to implement a positioning method in the embodiment of the invention. As shown in fig. 8, the apparatus includes: a set acquisition module 810, a fingerprint repository determination module 820, and a location determination module 830.

The set acquiring module 810 is configured to acquire a unique identifier set and a received signal strength value set of a bluetooth beacon covered by a target terminal within a first preset scanning duration;

a fingerprint database determining module 820, configured to determine a single real-time fingerprint database of the target terminal according to the unique identifier set and a pre-created target fingerprint database;

a location determining module 830, configured to determine a current location position of the target terminal according to the received signal strength value set and the single-time real-time fingerprint database.

According to the embodiment of the invention, the relevant information of the available Bluetooth beacon in single positioning is intercepted from the pre-established target fingerprint database through the unique identification set of the Bluetooth beacon covered by the target terminal within the first preset scanning duration, and the single real-time fingerprint database of the target terminal is constructed, so that the condition that the Bluetooth beacon in the coverage range cannot be scanned due to short scanning time in the real-time positioning process is avoided, the interference of the unavailable information in the real-time positioning process is eliminated, the positioning effectiveness is improved, and the positioning accuracy of the terminal is further improved.

In one embodiment, the positioning apparatus further includes:

the identification acquisition module is used for acquiring the unique identifications of all the Bluetooth beacons in a target positioning scene before acquiring the unique identification set and the received signal strength value set of the Bluetooth beacons covered by the target terminal in the first preset scanning duration;

the index establishing module is used for establishing a corresponding database index according to the unique identifiers of all the Bluetooth beacons and a pre-established physical position coordinate system of the target positioning scene;

the signal strength value determining module is used for determining a target receiving signal strength value of each sampling point relative to each Bluetooth beacon in a target positioning scene;

a database obtaining module, configured to obtain a corresponding target fingerprint database based on the target received signal strength value and a pre-created original fingerprint database; wherein the original fingerprint database is created based on the database index.

In an embodiment, the index creating module is specifically configured to:

uniformly arranging all Bluetooth beacons in a target positioning scene;

In one embodiment, the signal strength value determination module includes:

the initial strength value obtaining unit is used for continuously sampling each sampling point in the target positioning scene for a second preset scanning duration to obtain at least one initial received signal strength value of each sampling point corresponding to the Bluetooth beacon; the second preset scanning duration is longer than the first preset scanning duration;

and the target strength value obtaining unit is used for performing mean value filtering on the initial received signal strength value of each Bluetooth beacon to obtain the target received signal strength value of each sampling point relative to each Bluetooth beacon.

In an embodiment, the signal strength value determining module further includes:

the identification determining unit is used for determining that the unique identification of the Bluetooth beacon is not scanned by each sampling point within a second preset scanning duration;

and the preset intensity value configuration unit is used for configuring the target received signal intensity value corresponding to the unique identifier of the unscanned Bluetooth beacon into a preset received signal intensity value.

In one embodiment, the fingerprint repository determination module 820 includes:

the data interception unit is used for intercepting fingerprint data matched with each unique identifier in the unique identifier set from a target fingerprint database established in advance;

and the fingerprint database determining unit is used for determining a single real-time fingerprint database of the target terminal according to the unique identification set and the fingerprint data.

In one embodiment, the position determination module 830 includes:

the intensity value obtaining unit is used for obtaining a received signal intensity value corresponding to the unique identification set of each fingerprint in the single real-time fingerprint library;

the sampling point determining unit is used for determining a target sampling point according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint;

and the position determining unit is used for determining the current positioning position of the target terminal according to the weight value and the positioning position of the target sampling point.

In one embodiment, the sampling point determining unit includes:

the distance determining subunit is used for determining Euclidean distances of corresponding sampling points according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint;

and the sampling point determining subunit is used for determining a target sampling point according to the Euclidean distance of each sampling point.

In one embodiment, the positioning apparatus further includes:

and the filtering module is used for performing mean value filtering on the received signal strength value of each Bluetooth beacon covered by the target terminal after the unique identification set and the received signal strength value set of the Bluetooth beacon covered by the target terminal in the first preset scanning duration are obtained.

The positioning device provided by the embodiment of the invention can execute the positioning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

In an embodiment, fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the positioning method.

In some embodiments, the positioning method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the positioning method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of positioning, comprising:

and determining the current positioning position of the target terminal according to the received signal strength value set and the single real-time fingerprint database.

2. The method according to claim 1, wherein before said obtaining the unique identification set and the received signal strength value set of the bluetooth beacon covered by the target terminal within the first preset scanning duration, further comprising:

acquiring unique identifiers of all Bluetooth beacons in a target positioning scene;

constructing a corresponding database index according to the unique identifiers of all the Bluetooth beacons and a pre-established physical position coordinate system of the target positioning scene;

determining a target received signal strength value of each sampling point relative to each Bluetooth beacon in a target positioning scene;

obtaining a corresponding target fingerprint database based on the target received signal strength value and a pre-established original fingerprint database; wherein the original fingerprint database is created based on the database index.

3. The method of claim 2, further comprising, before said constructing a corresponding database index from the unique identifiers of all bluetooth beacons and the pre-established physical location coordinate system of the target positioning scenario:

uniformly arranging all Bluetooth beacons in a target positioning scene;

4. The method of claim 2 or 3, wherein determining the target received signal strength value of each sampling point relative to each Bluetooth beacon in the target positioning scenario comprises:

continuously sampling each sampling point in the target positioning scene for a second preset scanning duration to obtain at least one initial received signal strength value of each sampling point corresponding to the Bluetooth beacon; the second preset scanning duration is longer than the first preset scanning duration;

5. The method of claim 4, wherein determining a target received signal strength value for each sample point relative to each Bluetooth beacon within a target positioning scenario further comprises:

6. The method according to any one of claims 1 to 3, wherein the determining a single live fingerprint database of the target terminal according to the unique identification set and the pre-created target fingerprint database comprises:

intercepting fingerprint data matched with each unique identifier in the unique identifier set from a pre-established target fingerprint database;

and determining a single real-time fingerprint database of the target terminal according to the unique identification set and the fingerprint data.

7. The method according to any one of claims 1-3, wherein said determining a current location position of said target terminal based on said set of received signal strength values and said one-time live fingerprint library comprises:

acquiring a received signal strength value corresponding to the unique identification set of each fingerprint in the single real-time fingerprint database;

determining a target sampling point according to the received signal strength value set and the received signal strength value corresponding to the unique identification set of each fingerprint;

and determining the current positioning position of the target terminal according to the weight value and the positioning position of the target sampling point.

8. The method of claim 7, wherein determining target sample points according to the set of received signal strength values and the received signal strength value corresponding to the set of unique identifiers for each fingerprint comprises:

9. The method according to any one of claims 1 to 3, further comprising, after said acquiring the set of unique identifiers and the set of received signal strength values of the bluetooth beacon covered by the target terminal within the first preset scanning duration:

and carrying out mean value filtering on the received signal strength value of each Bluetooth beacon covered by the target terminal.

10. A positioning device, comprising:

the device comprises a set acquisition module, a signal acquisition module and a signal acquisition module, wherein the set acquisition module is used for acquiring a unique identification set and a received signal strength value set of a Bluetooth beacon covered by a target terminal in a first preset scanning duration;

11. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the positioning method of any one of claims 1-9.

12. A computer-readable storage medium, having stored thereon computer instructions for causing a processor to execute the positioning method according to any one of claims 1-9.