CN115529549A - Bluetooth positioning method, related device, electronic equipment and storage medium - Google Patents
Bluetooth positioning method, related device, electronic equipment and storage medium Download PDFInfo
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- H04W4/02—Services making use of location information
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Abstract
The invention provides a Bluetooth positioning method, a related device, electronic equipment and a computer readable storage medium. Applied to a first electronic device, the method comprises: under the condition that a Bluetooth positioning condition is not met, sending a first broadcast signal, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for carrying out Bluetooth positioning on the first electronic equipment is less than 3, and the first broadcast signal is used for requesting second electronic equipment to carry out Bluetooth positioning on the first electronic equipment; receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal; and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station. The embodiment of the invention can improve the Bluetooth positioning precision of the first electronic equipment.
Description
Technical Field
Embodiments of the present invention relate to the field of bluetooth positioning technologies, and in particular, to a bluetooth positioning method, a related apparatus, an electronic device, and a computer-readable storage medium.
Background
With the rapid development of the bluetooth positioning technology, the bluetooth positioning technology is widely applied to electronic devices, and the electronic devices can determine the positions of the electronic devices through the bluetooth positioning technology.
Currently, a bluetooth positioning scheme applied in an electronic device generally receives broadcast signals transmitted by a plurality of bluetooth base stations, determines a plurality of relative distances between the electronic device and the bluetooth base stations according to Received Signal Strength Indication (RSSI) Strength, and determines a position of the electronic device by using a trilateration positioning method according to the plurality of relative distances and positions of the bluetooth base stations.
However, in an actual use environment, such as a complex environment with many moving obstacles, such as a mall, a train station, an airport, a hospital, and the like, the RSSI strength is unstable due to severe signal fading or abnormal signal enhancement caused by multipath effect, so that the positioning error during bluetooth positioning is relatively large.
Disclosure of Invention
Embodiments of the present invention provide a bluetooth positioning method, a related apparatus, an electronic device, and a computer-readable storage medium, so as to solve a problem in the prior art that a positioning error is relatively large during bluetooth positioning.
In a first aspect, an embodiment of the present invention provides a bluetooth positioning method, which is applied to a first electronic device, and the method includes:
under the condition that a Bluetooth positioning condition is not met, sending a first broadcast signal, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal;
and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
In the foregoing solution, before the transmitting the first broadcast signal when the bluetooth positioning condition is not satisfied, the method further includes:
scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indicator) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
determining that the first electronic device does not satisfy the Bluetooth positioning condition under the condition that the number of target RSSI (received signal strength indicator) strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
In the above solution, the sum of the number of the target bluetooth base stations and the number of the second electronic devices is greater than 2, and performing bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target bluetooth base station includes:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
In a second aspect, an embodiment of the present invention provides a bluetooth positioning method, which is applied to a second electronic device, and the method includes:
receiving a first broadcast signal sent by the first electronic device under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic device to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting the second electronic device to perform Bluetooth positioning on the first electronic device;
responding to the first broadcast signal, and sending a second broadcast signal under the condition that the Bluetooth positioning of the second electronic equipment is successful, wherein the second broadcast signal is used for the Bluetooth positioning of the first electronic equipment by combining with a third broadcast signal sent by the target Bluetooth equipment.
In the above solution, after the bluetooth positioning of the second electronic device is successful, the method further includes:
acquiring inertial measurement data of the second electronic device;
and sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic equipment in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic equipment by combining with a third position coordinate of the target Bluetooth equipment to obtain a first position coordinate of the first electronic equipment.
In a third aspect, an embodiment of the present invention provides a bluetooth positioning apparatus, which is applied to a first electronic device, and the apparatus includes:
the first sending module is used for sending a first broadcast signal under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
a first receiving module, configured to receive a second broadcast signal sent by the second electronic device based on the first broadcast signal;
and the Bluetooth positioning module is used for carrying out Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
In the above solution, the apparatus further includes:
the scanning module is used for scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indicator) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
a determining module, configured to determine that the first electronic device does not satisfy the bluetooth positioning condition when the number of target RSSI strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
In the foregoing solution, a sum of the number of the target bluetooth base stations and the number of the second electronic devices is greater than 2, and the bluetooth positioning module is specifically configured to:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
In a fourth aspect, an embodiment of the present invention provides a bluetooth positioning apparatus, which is applied to a second electronic device, and the apparatus includes:
a second receiving module, configured to receive a first broadcast signal sent by the first electronic device when a bluetooth positioning condition is not met, where the bluetooth positioning condition is that the number of target bluetooth base stations that can be used by the first electronic device for bluetooth positioning is less than 3, and the first broadcast signal is used to request the second electronic device to perform bluetooth positioning on the first electronic device;
and the second sending module is used for responding to the first broadcast signal, and sending a second broadcast signal under the condition that the Bluetooth positioning of the second electronic equipment is successful, wherein the second broadcast signal is used for the Bluetooth positioning of the first electronic equipment by combining with a third broadcast signal sent by the target Bluetooth equipment.
In the above solution, the apparatus further includes:
the acquisition module is used for acquiring inertia measurement data of the second electronic equipment after the Bluetooth positioning of the second electronic equipment is successful;
and the third sending module is used for sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic device in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic device by combining with a third position coordinate of the target Bluetooth device to obtain a first position coordinate of the first electronic device.
In a fifth aspect, an embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, where the computer program implements the steps of the bluetooth positioning method according to the first aspect, or implements the steps of the bluetooth positioning method according to the second aspect when executed by the processor.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the steps of the bluetooth positioning method according to the first aspect, or implements the steps of the bluetooth positioning method according to the second aspect.
In the embodiment of the invention, a first electronic device sends a first broadcast signal under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic device to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting a second electronic device to perform Bluetooth positioning on the first electronic device; receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal; and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station. Therefore, under the condition that the first electronic equipment does not meet the Bluetooth positioning condition, the Bluetooth positioning of the first electronic equipment can be realized by combining the broadcast signals sent by the Bluetooth base station and the broadcast signals sent by other electronic equipment, so that the positioning error of the first electronic equipment during Bluetooth positioning can be reduced, and the Bluetooth positioning precision of the first electronic equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention 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 inventive exercise.
Fig. 1 is a schematic flowchart of a bluetooth positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a trilateral positioning;
fig. 3 is a second flowchart of a bluetooth positioning method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of a Bluetooth positioning system;
FIG. 5 is a schematic diagram of the location of each terminal in the Bluetooth location system;
fig. 6 is a schematic structural diagram of a bluetooth positioning apparatus according to an embodiment of the present invention;
fig. 7 is a second schematic structural diagram of a bluetooth positioning apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First, a bluetooth positioning method provided in an embodiment of the present invention is described below.
It should be noted that the bluetooth positioning method provided by the embodiment of the present invention relates to the technical field of bluetooth positioning, and can be widely applied to a bluetooth positioning system, where the bluetooth positioning system may include a terminal, a bluetooth base station, and a positioning server. The method can be executed by the Bluetooth positioning device of the embodiment of the invention. And the bluetooth positioning apparatus may be configured in the terminal to perform the bluetooth positioning method.
Referring to fig. 1, a flowchart of a bluetooth positioning method according to an embodiment of the present invention is shown. The method is applied to a first electronic device, and as shown in fig. 1, the method may include the steps of:
In this embodiment, in some bluetooth positioning scenarios, in order to implement bluetooth positioning through trilateral positioning, the number of target bluetooth base stations that can be used for bluetooth positioning by the first electronic device needs to be at least three, that is, when the number of target bluetooth base stations that can be used for bluetooth positioning by the first electronic device is less than 3, the first electronic device does not satisfy the bluetooth positioning condition, that is, the position coordinate of the first electronic device cannot be solved through the broadcast signal sent by the target bluetooth base station.
The target bluetooth base station may be a bluetooth base station capable of sending a broadcast signal, that is, a bluetooth base station with a normal bluetooth broadcast function, or may be a bluetooth base station corresponding to a broadcast signal with a relatively stable RSSI strength in the broadcast signal scanned by the first electronic device, which is not specifically limited herein.
In an alternative embodiment, the number of the broadcast signals may be determined by scanning the broadcast signals to determine the number of the available bluetooth base stations in the periphery, and if the number of the scanned broadcast signals is less than 3, that is, the number of the available bluetooth base stations in the periphery is less than 3, it is determined that the first electronic device does not satisfy the bluetooth positioning condition.
In another optional embodiment, due to a complex actual use environment, such as a complex environment with many moving obstacles, such as a mall, a train station, an airport, a hospital, and the like, if an obstacle exists between the bluetooth base station and the first electronic device, the RSSI strength of the broadcast signal from the bluetooth base station to the first electronic device may fluctuate, so that the distance measured and calculated based on the RSSI strength is inaccurate, and thus the bluetooth positioning is not accurate.
In this case, the first electronic device may determine, as the target bluetooth base station, the bluetooth base station corresponding to the broadcast signal with the relatively stable RSSI strength in the scanned broadcast signals, and may determine that the first electronic device does not satisfy the bluetooth positioning condition when the number of the target bluetooth base stations is less than 3.
Under the condition that the Bluetooth positioning condition is not met, the first electronic device can utilize the characteristic of integrated transmission and reception to transmit a first broadcast signal, and the first broadcast signal is used for requesting the second electronic device to perform Bluetooth positioning on the first electronic device. The second electronic device may be a terminal peripheral to the first electronic device.
The first electronic device may transmit a broadcast signal of type-B, i.e., a first broadcast signal, in real time or periodically and may last for a period of time to ensure that other electronic devices in the periphery can scan the first broadcast signal. For example, the first electronic device may transmit the first broadcast signal at a period of 500ms and may last for 10s.
In this step, after receiving the first broadcast signal transmitted by the first electronic device, the other electronic device may transmit the second broadcast signal if its own condition permits. Wherein, the electronic device allowed by the self condition in the other electronic devices can be determined as the second electronic device.
Specifically, if the other electronic device needs to assist the first electronic device in performing bluetooth positioning, its own position coordinate needs to be known, so that one of the conditions that the second electronic device needs to satisfy is that its position coordinate is known, and in addition, the second electronic device also needs to have a transceiver-integrated characteristic to receive the first broadcast signal sent by the first electronic device and send the second broadcast signal in response to the first broadcast signal.
The second broadcast signal may be different from the first broadcast signal and is a type-C broadcast signal, and the second broadcast signal is used for bluetooth positioning of the first electronic device in combination with a third broadcast signal transmitted by the target bluetooth base station.
The timing for the second electronic device to transmit the second broadcast signal may be set according to actual conditions, for example, the second broadcast signal may be transmitted when it is determined that the bluetooth positioning of the second electronic device is successful, or the second broadcast signal may be transmitted when it is determined that the first electronic device has finished broadcasting the broadcast signal of type-B, or the second broadcast signal may be transmitted at other timings, which is not specifically limited herein.
The second broadcast signal may carry an equipment identifier of the second electronic equipment, the first electronic equipment may perform bluetooth positioning according to the equipment identifier of the second electronic equipment, the second broadcast signal may also carry a position coordinate of the second electronic equipment, the first electronic equipment may perform bluetooth positioning according to the position coordinate of the second electronic equipment, and a specific bluetooth positioning process thereof will be described later.
Accordingly, in a case where the second electronic device transmits the second broadcast signal based on the first broadcast signal, the first electronic device may receive the second broadcast signal.
And 103, performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
In this step, the first electronic device may perform bluetooth positioning by combining the second broadcast signal and the third broadcast signal. The third broadcast signal may be a type-a broadcast signal, the bluetooth base station may send the third broadcast signal in an indoor positioning and navigation system ibeacon or a private beacon broadcast mode, and correspondingly, the first electronic device may receive the third broadcast signal sent by the target bluetooth base station.
The Bluetooth positioning can be carried out in a trilateral positioning mode, and under the condition that the sum of the number of the target Bluetooth base stations and the number of the second electronic devices is less than 3, the first electronic device can output a prompt signal to indicate that the current environment is not suitable for Bluetooth positioning.
And in the case that the sum of the number of the target bluetooth base stations and the number of the second electronic devices is greater than 2, the step of performing bluetooth positioning based on the second broadcast signal and the third broadcast signal transmitted by the target bluetooth base station may include:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
Specifically, the second broadcast signal and the third broadcast signal may be analyzed respectively to obtain an RSSI strength value corresponding to the target bluetooth base station, that is, a first RSSI strength value, and an RSSI strength value corresponding to the second electronic device, that is, a second RSSI strength value.
Under the condition that the second broadcast signal carries the device identifier of the second electronic device and the third broadcast signal carries the device identifier of the target bluetooth base station, analyzing the broadcast signals can further obtain the device identifier of the second electronic device and the device identifier of the target bluetooth base station.
And determining a first distance between the first electronic device and the target Bluetooth base station in an existing or new mode based on the first RSSI strength value, wherein the first distance can be a plurality of first distances under the condition that the target Bluetooth base station comprises a plurality of first RSSI strength values. And determining a second distance between the first electronic device and the second electronic device in an existing or new mode based on the second RSSI strength value, wherein the second distance can be a plurality of second electronic devices in the case that the second electronic devices comprise a plurality of second RSSI strength values.
In summary, the sum of the number of the first distances and the number of the second distances needs to be more than 2, and in the case of 3, d can be used respectively 1 、d 2 And d 3 And (4) showing.
Then, first position coordinates of the first electronic device are determined based on the first distance and the second distance. The determining method may be multiple, for example, the first electronic device may resolve the first location coordinate by itself, and specifically, if the broadcast signal carries the location coordinate, the first electronic device may perform a location phase in a trilateral positioning manner based on the first distance, the second distance, the location coordinate of the second electronic device, and the location coordinate of the target bluetooth base station, to obtain the first location coordinate.
For another example, the process of calculating the position of the first electronic device may be performed in the positioning server, and the first electronic device may resolve the first distance, the second distance, the device identifier of the second electronic device, and the device identifier of the target bluetooth base station based on the broadcast signal, and send the calculated information to the positioning server. The positioning server acquires a second position coordinate of the second electronic device based on the device identification of the second electronic device, acquires a third position coordinate of the target Bluetooth base station based on the device identification of the target Bluetooth base station, and then performs position calculation based on the first distance, the second position coordinate and the third position coordinate to acquire a first position coordinate.
The position calculation process is as follows:
referring to fig. 2, fig. 2 is a schematic diagram of trilateral positioning, as shown in fig. 2, E, B and C are positions where the second electronic device and the target bluetooth base station are located, respectively, and the position coordinates thereof are (x) 1 ，y 1 )、(x 2 ，y 2 ) And (x) 3 ，y 3 ) A first distance between the first electronic device and the target bluetooth base station and a second distance between the first electronic device and the second electronic device are d 1 、d 2 And d 3 By adopting a trilateral positioning mode, the position of D, namely the position of the first electronic device, can be determined, and is represented by (x, y), namely the position needing to be resolved.
The positioning calculation formula can be expressed by the following formula (1):
after the expansion, the position coordinates of the first electronic device can be obtained by calculation, and the position coordinates are expressed by the following formula (2):
therefore, the position coordinate of the first electronic equipment can be very simply calculated by combining the second broadcast signal and the third broadcast signal in a trilateral positioning mode, and the Bluetooth positioning of the first electronic equipment is realized.
In addition, if the sum of the number of the second electronic devices and the number of the target bluetooth base stations is greater than 3, 3 devices (the 3 devices include the target bluetooth base station and the second electronic device) corresponding to the RSSI strength with the minimum fluctuation may be selected from the second electronic devices to perform bluetooth positioning on the first electronic device.
In this embodiment, a first electronic device sends a first broadcast signal when a bluetooth positioning condition is not satisfied, where the bluetooth positioning condition is that the number of target bluetooth base stations available for bluetooth positioning of the first electronic device is less than 3, and the first broadcast signal is used to request a second electronic device to perform bluetooth positioning on the first electronic device; receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal; and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station. Therefore, under the condition that the first electronic equipment does not meet the Bluetooth positioning condition, the Bluetooth positioning of the first electronic equipment can be realized by combining the broadcast signals sent by the Bluetooth base station and the broadcast signals sent by other electronic equipment, so that the positioning error of the first electronic equipment during Bluetooth positioning can be reduced, and the Bluetooth positioning precision of the first electronic equipment is improved.
Optionally, before the transmitting the first broadcast signal in the case that the bluetooth positioning condition is not satisfied, the method further includes:
scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indicator) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
determining that the first electronic device does not satisfy the Bluetooth positioning condition under the condition that the number of target RSSI strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
In this embodiment, the first electronic device may determine whether the first electronic device satisfies the bluetooth positioning condition by scanning a third broadcast signal sent by the bluetooth base station and according to an RSSI intensity fluctuation value of the third broadcast signal.
Specifically, the first electronic device may scan third broadcast signals sent by the M bluetooth base stations to obtain the third broadcast signals sent by each bluetooth base station, and calculate M RSSI intensity fluctuation values corresponding to the M bluetooth base stations. The RSSI strength fluctuation value corresponding to one bluetooth base station may be based on a variance value of the RSSI strength of the third broadcast signal sent by the bluetooth base station.
When the RSSI strength fluctuation value is relatively large and exceeds a preset threshold, that is, an expected variance value, it indicates that the bluetooth base station cannot be used for bluetooth positioning of the first electronic device, and when the RSSI strength fluctuation value is relatively small and is smaller than the preset threshold, the bluetooth base station corresponding to the RSSI strength fluctuation value is determined as a target bluetooth base station, and when the number of the target bluetooth base stations is smaller than 3, it is determined that the first electronic device does not satisfy the bluetooth positioning condition of the first electronic device.
In this embodiment, a third broadcast signal sent by M bluetooth base stations is scanned to obtain M received signal strength indication RSSI strength fluctuation values corresponding to the M bluetooth base stations, where the M bluetooth base stations include the target bluetooth base station; and under the condition that the number of target RSSI (received signal strength indicator) strength fluctuation values in the M RSSI strength fluctuation values is less than 3, determining that the first electronic equipment does not meet the Bluetooth positioning condition. Therefore, whether the first electronic equipment meets the Bluetooth positioning condition or not can be judged very accurately, and the target Bluetooth base station suitable for Bluetooth positioning of the first electronic equipment is selected, so that the Bluetooth positioning precision of the first electronic equipment can be improved.
Referring to fig. 3, a second flowchart of the bluetooth positioning method according to the embodiment of the present invention is shown. The method is applied to the second electronic device, and as shown in fig. 3, the method may include the steps of:
In this embodiment, the second electronic device may also receive the first broadcast signal sent by the first electronic device by using the transceiver-integrated characteristic thereof, and determine whether itself allows assisting the first electronic device in performing bluetooth positioning in response to the first broadcast signal.
The second electronic device may determine whether itself allows assisting the first electronic device in bluetooth positioning by determining whether its bluetooth positioning was successful. Specifically, the positioning server may feed back a signal when the bluetooth positioning is successful, and the second electronic device may determine that the bluetooth positioning is successful after receiving the signal, or determine that the bluetooth positioning is unsuccessful.
The second broadcast signal may be transmitted in the event that the bluetooth location is successful, and the second broadcast signal may be transmitted in the event that the first broadcast signal is not scanned. Correspondingly, the first electronic device can receive the second broadcast signal and perform bluetooth positioning by combining with the third broadcast signal of the target bluetooth base station.
Optionally, after the bluetooth positioning of the second electronic device is successful, the method further includes:
acquiring inertial measurement data of the second electronic device;
and sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic equipment in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic equipment by combining with a third position coordinate of the target Bluetooth equipment to obtain a first position coordinate of the first electronic equipment.
In this embodiment, after the bluetooth positioning is successful, in order to ensure the accuracy of the position coordinate of the second electronic device, the inertial sensing unit (including a gyroscope, an accelerometer, and the like) of the second electronic device may be used to acquire data during the movement process of the second electronic device, so as to obtain inertial measurement data.
Its bluetooth location coordinates may then be updated based on the inertial measurement data. Under the condition that the second electronic device stores the second position coordinate, namely the bluetooth positioning coordinate, the second electronic device can update the kalman equation according to the inertia measurement data of the second electronic device so as to update the coordinate value of the bluetooth positioning coordinate.
The second electronic device may also send the inertial measurement data to the positioning server, and the positioning server updates the kalman equation according to the inertial measurement data to update the coordinate value of the bluetooth positioning coordinate.
Therefore, when the position of the first electronic equipment is resolved, the position can be resolved according to the real-time second position coordinate, the accuracy of the position resolution of the first electronic equipment is improved, and the Bluetooth positioning precision of the first electronic equipment is improved.
In order to more clearly illustrate the aspects of the embodiments of the present invention, a specific example is described below.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a bluetooth positioning system, and as shown in fig. 4, the bluetooth positioning system may include a plurality of bluetooth base stations, which are a bluetooth base station 401, a bluetooth base station 402, and a bluetooth base station 403, respectively, and are identified by a, B, and C, respectively, fixed at the tops of three corners of a room, and broadcast beacon information outwards at a period of 900 ms.
The terminal with the Bluetooth broadcasting function and the scanning function and provided with the inertia sensing unit, such as a mobile phone, comprises two terminals, namely a terminal 404 and a terminal 405, marked by a and b, and only receives the broadcasting information while the inertia sensing unit is closed and does not acquire data in a default state.
The movable obstacle 406 causes attenuation of bluetooth electromagnetic waves, wherein no obstacle exists between the terminal 404 and the bluetooth base station 401, between the bluetooth base station 402 and between the bluetooth base station 403, the movable obstacle 406 exists between the terminal 405 and the bluetooth base station 401, and no obstacle exists between the terminal 404 and the terminal 405.
Referring to fig. 5, fig. 5 is a schematic view of positioning of each terminal in the bluetooth positioning system, and as shown in fig. 5, based on the bluetooth positioning system, the positioning steps are as follows:
when the terminal 404, namely the terminal a, performs bluetooth positioning, the terminal a can scan and receive beacon broadcasts of the bluetooth base stations a, B and C, position the relative distance between the terminal a and the bluetooth base stations, send the relative distance to the positioning server, and combine the preset position coordinates of the bluetooth base stations a, B and C of the positioning server to resolve the position coordinates of the terminal a in a room by the positioning server in a trilateral positioning mode, and at the moment, the terminal a completes bluetooth positioning.
After the terminal a finishes the Bluetooth positioning, the initial position coordinate of the Bluetooth positioning is obtained, which can be called as RSSI coordinate value, the inertial sensing unit is started, the inertial sensing unit is used for collecting inertial measurement data, the inertial measurement data is matched with the RSSI coordinate value, and the inertial navigation result is continuously corrected by Kalman filtering, so that a dynamic and accurate coordinate value is obtained.
When the terminal 405, that is, the terminal B, is performing positioning, the terminal B may also scan and receive beacon broadcasts of the bluetooth base stations a, B, and C for a period of time, and calculate a variance value of RSSI strength, and due to the existence of the movable obstacle 406, the RSSI strength of the beacon broadcast of the bluetooth base station a fluctuates greatly and exceeds an expected variance value, at this time, the terminal B determines that the beacon broadcast of the bluetooth base station a cannot be used for trilateral positioning, and the terminal B starts to transmit a positioning request broadcast, that is, a first broadcast signal, at a period of 500ms and lasts for 10s.
After receiving the positioning request broadcast sent by the terminal b, the terminal a may start to send a broadcast carrying the device identifier of the terminal a, i.e., a second broadcast signal, after 10s.
And the terminal B analyzes the broadcast of the terminal a and the broadcast of the Bluetooth base stations B and C to obtain the relative distance and the equipment identification, and reports the relative distance and the equipment identification to the positioning server.
And the positioning server acquires the position coordinates of the terminal a and the position coordinates of the Bluetooth base stations B and C according to the equipment identification, performs trilateral positioning by combining relative distances, and calculates the position coordinates of the terminal B.
The bluetooth positioning apparatus provided in the embodiment of the present invention is explained as follows.
Referring to fig. 6, a schematic structural diagram of a bluetooth positioning apparatus according to an embodiment of the present invention is shown. The apparatus is applied to a first electronic device, as shown in fig. 6, a bluetooth positioning apparatus 600 includes:
a first sending module 601, configured to send a first broadcast signal when a bluetooth positioning condition is not met, where the bluetooth positioning condition is that the number of target bluetooth base stations that can be used for bluetooth positioning of the first electronic device is less than 3, and the first broadcast signal is used to request a second electronic device to perform bluetooth positioning on the first electronic device;
a first receiving module 602, configured to receive a second broadcast signal sent by the second electronic device based on the first broadcast signal;
a bluetooth positioning module 603, configured to perform bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target bluetooth base station.
Optionally, the apparatus further comprises:
a scanning module, configured to scan third broadcast signals sent by M bluetooth base stations to obtain M received signal strength indication RSSI strength fluctuation values corresponding to the M bluetooth base stations, where the M bluetooth base stations include the target bluetooth base station, and M is an integer greater than 2;
a determining module, configured to determine that the first electronic device does not satisfy the bluetooth positioning condition when the number of target RSSI strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
Optionally, the sum of the number of the target bluetooth base stations and the number of the second electronic devices is greater than 2, and the bluetooth positioning module 603 is specifically configured to:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
The bluetooth positioning apparatus 600 can implement the above processes implemented in the embodiment of the bluetooth positioning method applied to the first electronic device, and is not described herein again for avoiding repetition.
Referring to fig. 7, a second schematic structural diagram of a bluetooth positioning apparatus according to an embodiment of the present invention is shown. The apparatus is applied to a second electronic device, as shown in fig. 7, a bluetooth positioning apparatus 700 includes:
a second receiving module 701, configured to receive a first broadcast signal sent by the first electronic device when a bluetooth positioning condition is not met, where the bluetooth positioning condition is that the number of target bluetooth base stations that can be used by the first electronic device for bluetooth positioning is less than 3, and the first broadcast signal is used to request the second electronic device to perform bluetooth positioning on the first electronic device;
a second sending module 702, configured to send, in response to the first broadcast signal, a second broadcast signal when the bluetooth positioning of the second electronic device is successful, where the second broadcast signal is used for the first electronic device to perform bluetooth positioning in combination with a third broadcast signal sent by the target bluetooth device.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring inertia measurement data of the second electronic equipment after the Bluetooth positioning of the second electronic equipment is successful;
and the third sending module is used for sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic device in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic device by combining with a third position coordinate of the target Bluetooth device to obtain a first position coordinate of the first electronic device.
The bluetooth positioning apparatus 700 can implement the above processes implemented in the embodiment of the bluetooth positioning method applied to the second electronic device, and is not described herein again to avoid repetition.
The following describes an electronic device provided in an embodiment of the present invention.
Referring to fig. 8, a schematic structural diagram of an electronic device provided in an embodiment of the present invention is shown. As shown in fig. 8, the electronic device 800 includes: a processor 801, a memory 802, a user interface 803, and a bus interface 804.
The electronic device may be a first electronic device, and the processor 801 is configured to read a program stored in the memory 802 and execute the following processes:
under the condition that a Bluetooth positioning condition is not met, sending a first broadcast signal, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for carrying out Bluetooth positioning on the first electronic equipment is less than 3, and the first broadcast signal is used for requesting second electronic equipment to carry out Bluetooth positioning on the first electronic equipment;
receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal;
and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
Optionally, the processor 801 is further configured to:
scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indicator) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
determining that the first electronic device does not satisfy the Bluetooth positioning condition under the condition that the number of target RSSI (received signal strength indicator) strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
Optionally, the sum of the number of the target bluetooth base stations and the number of the second electronic devices is greater than 2, and the processor 801 is further configured to:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
The electronic device may also be a second electronic device, and the processor 801 is configured to read a program in the memory 802 and execute the following processes:
receiving a first broadcast signal sent by the first electronic device under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic device to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting the second electronic device to perform Bluetooth positioning on the first electronic device;
responding to the first broadcast signal, and sending a second broadcast signal under the condition that the second electronic device is successfully subjected to Bluetooth positioning, wherein the second broadcast signal is used for carrying out Bluetooth positioning by the first electronic device in combination with a third broadcast signal sent by the target Bluetooth device.
Optionally, the processor 801 is further configured to:
acquiring inertial measurement data of the second electronic device;
and sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic equipment in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic equipment by combining with a third position coordinate of the target Bluetooth equipment to obtain a first position coordinate of the first electronic equipment.
In FIG. 8, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 801 and various circuits of memory represented by memory 802 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. Bus interface 804 provides an interface. For different user devices, the user interface 803 may also be an interface capable of interfacing externally to a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc.
The processor 801 is responsible for managing the bus architecture and general processing, and the memory 802 may store data used by the processor 801 in performing operations.
Preferably, an embodiment of the present invention further provides an electronic device, which includes a processor 801, a memory 802, and a computer program stored in the memory 802 and capable of running on the processor 801, where the computer program, when executed by the processor 801, implements each process of the bluetooth positioning method embodiment applied to the first electronic device, or implements each process of the bluetooth positioning method embodiment applied to the second electronic device, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the bluetooth positioning method embodiment applied to the first electronic device, or implements each process of the bluetooth positioning method embodiment applied to the second electronic device, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A Bluetooth positioning method applied to a first electronic device, the method comprising:
under the condition that a Bluetooth positioning condition is not met, sending a first broadcast signal, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
receiving a second broadcast signal transmitted by the second electronic device based on the first broadcast signal;
and performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
2. The method of claim 1, wherein before transmitting the first broadcast signal if the bluetooth positioning condition is not satisfied, the method further comprises:
scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indication) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
determining that the first electronic device does not satisfy the Bluetooth positioning condition under the condition that the number of target RSSI strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
3. The method of claim 1, wherein the sum of the number of the target Bluetooth base stations and the number of the second electronic devices is greater than 2, and wherein performing Bluetooth positioning based on the second broadcast signal and a third broadcast signal transmitted by the target Bluetooth base station comprises:
analyzing the third broadcast signal to obtain a first RSSI (received signal strength indicator) strength value; analyzing the second broadcast signal to obtain a second RSSI (received signal strength indicator) strength value;
determining a first distance between the first electronic device and the target Bluetooth base station based on the first RSSI strength value; determining a second distance between the first electronic device and the second electronic device based on the second RSSI strength value;
determining first location coordinates of the first electronic device based on the first distance and the second distance.
4. A Bluetooth positioning method is applied to a second electronic device, and comprises the following steps:
receiving a first broadcast signal sent by first electronic equipment under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting the second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
responding to the first broadcast signal, and sending a second broadcast signal under the condition that the second electronic device is successfully subjected to Bluetooth positioning, wherein the second broadcast signal is used for carrying out Bluetooth positioning by the first electronic device in combination with a third broadcast signal sent by the target Bluetooth device.
5. The method of claim 4, wherein after the second electronic device successfully locates the Bluetooth, the method further comprises:
acquiring inertial measurement data of the second electronic device;
and sending the inertia measurement data to a positioning server, wherein the inertia measurement data is used for updating a second position coordinate, the second position coordinate is a Bluetooth positioning coordinate of the second electronic equipment in the positioning server, and the second position coordinate is used for carrying out Bluetooth positioning on the first electronic equipment by combining with a third position coordinate of the target Bluetooth equipment to obtain a first position coordinate of the first electronic equipment.
6. A Bluetooth positioning device applied to a first electronic device, the device comprising:
the first sending module is used for sending a first broadcast signal under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
a first receiving module, configured to receive a second broadcast signal sent by the second electronic device based on the first broadcast signal;
and the Bluetooth positioning module is used for carrying out Bluetooth positioning based on the second broadcast signal and a third broadcast signal sent by the target Bluetooth base station.
7. The apparatus of claim 6, further comprising:
the scanning module is used for scanning third broadcast signals sent by M Bluetooth base stations to obtain M received signal strength indication RSSI (received signal strength indicator) strength fluctuation values corresponding to the M Bluetooth base stations, wherein the M Bluetooth base stations comprise the target Bluetooth base station, and M is an integer greater than 2;
a determining module, configured to determine that the first electronic device does not satisfy the bluetooth positioning condition when the number of target RSSI strength fluctuation values in the M RSSI strength fluctuation values is less than 3;
the target RSSI strength fluctuation value is an RSSI strength fluctuation value smaller than a preset threshold value, and the target Bluetooth base station is a Bluetooth base station corresponding to the target RSSI strength fluctuation value in the M Bluetooth base stations.
8. A Bluetooth positioning device applied to a second electronic device, the device comprising:
the second receiving module is used for receiving a first broadcast signal sent by first electronic equipment under the condition that a Bluetooth positioning condition is not met, wherein the Bluetooth positioning condition is that the number of target Bluetooth base stations which can be used for the first electronic equipment to perform Bluetooth positioning is less than 3, and the first broadcast signal is used for requesting the second electronic equipment to perform Bluetooth positioning on the first electronic equipment;
and the second sending module is used for responding to the first broadcast signal, and sending a second broadcast signal under the condition that the Bluetooth positioning of the second electronic equipment is successful, wherein the second broadcast signal is used for the Bluetooth positioning of the first electronic equipment by combining with a third broadcast signal sent by the target Bluetooth equipment.
9. An electronic device, characterized in that the electronic device comprises: comprising a processor, a memory, a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the bluetooth positioning method as claimed in any one of claims 1 to 3 or implementing the steps of the bluetooth positioning method as claimed in any one of claims 4 to 5.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the bluetooth positioning method according to one of the claims 1 to 3, or carries out the steps of the bluetooth positioning method according to one of the claims 4 to 5.
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| CN202110710072.5A CN115529549A (en) | 2021-06-25 | 2021-06-25 | Bluetooth positioning method, related device, electronic equipment and storage medium |
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