CN115665853A - Fusion positioning method and device, electronic equipment and readable storage medium - Google Patents
Fusion positioning method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN115665853A CN115665853A CN202211611666.1A CN202211611666A CN115665853A CN 115665853 A CN115665853 A CN 115665853A CN 202211611666 A CN202211611666 A CN 202211611666A CN 115665853 A CN115665853 A CN 115665853A
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Abstract
The embodiment of the application provides a fusion positioning method, a fusion positioning device, electronic equipment and a readable storage medium, and relates to the technical field of communication, wherein the method comprises the following steps: receiving first information detected by a first detection device at a first moment; determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information; determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different times in a first time range; and under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate, determining the positioning coordinate of the first mobile equipment at the first moment according to the first WiFi coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint area. Therefore, the Bluetooth coordinate of the mobile equipment at the first moment is acquired, and then the position information of the mobile equipment at the first moment is acquired in the position limiting area of the mobile equipment at the first moment by combining the WiFi coordinate of the mobile equipment at the first moment and the Bluetooth coordinate at the previous moment, so that the positioning accuracy of the mobile equipment is improved.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a method and an apparatus for fusion positioning, an electronic device, and a readable storage medium.
Background
The current passive positioning research work mainly focuses on the research on a single positioning technology, such as positioning a mobile device by using a bluetooth positioning technology or positioning a mobile device by using a WiFi positioning technology, so as to obtain the position information of the mobile device
However, no matter the position information of the mobile device is obtained through the bluetooth positioning technology or the WiFi positioning technology, the obtained positioning accuracy of the mobile device is low.
Disclosure of Invention
An object of the embodiments of the present application is to provide a fusion positioning method, device, electronic device, and readable storage medium, which are used to solve the problem of low positioning accuracy of an obtained mobile device.
In a first aspect, an embodiment of the present application provides a fusion positioning method, where the fusion positioning method includes:
receiving first information detected by a first detection device at a first moment, wherein the first information comprises the Bluetooth signal strength of the mobile device, a first Media Access Control (MAC) address in a Bluetooth broadcast frame of the mobile device and time information for detecting the Bluetooth signal of the mobile device;
determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information;
determining a Bluetooth positioning constraint area corresponding to a first moment according to Bluetooth coordinates of different moments in the first time range, wherein the Bluetooth positioning constraint area represents a position limitation area of first mobile equipment at the first moment, and the first time range is determined based on the first moment;
under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate, determining a positioning coordinate of the first mobile equipment at a first moment according to the first WiFi coordinate, the first Bluetooth coordinate and a Bluetooth positioning constraint area;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at the first moment, wiFi signal strength detection and determination are carried out on the first WiFi coordinate based on the second detection device, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
Optionally, when the first WiFi coordinate is different from the first bluetooth coordinate, determining, according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth positioning constraint area, a positioning coordinate of the first mobile device at the first time, includes:
under the condition that the first WiFi coordinate is different from the first Bluetooth coordinate, judging whether the first WiFi coordinate is located in a Bluetooth coordinate constraint area;
when the first WiFi coordinate is located in the Bluetooth coordinate constraint area, taking the midpoint of the first Bluetooth coordinate and the first WiFi coordinate as a positioning coordinate of the first mobile equipment at a first moment;
and when the first WiFi coordinate is located outside the Bluetooth coordinate constraint area, taking the coordinate of the intersection point and the midpoint of the first Bluetooth coordinate as the positioning coordinate of the first mobile equipment at the first moment, wherein the intersection point is the intersection point of the first connecting line and the boundary of the Bluetooth coordinate constraint area, and the first connecting line is the connecting line of the first Bluetooth coordinate and the first WiFi coordinate.
Optionally, in a case that the first WiFi coordinate is different from the first bluetooth coordinate, determining, according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth location constraint area, a location coordinate of the first mobile device at the first time before, further comprising:
receiving second information detected at the first moment from a second detection device, wherein the second information comprises: a signal strength of a wireless fidelity of the mobile device, a second media access control, MAC, address within a probe request frame of the wireless fidelity of the mobile device, and time information to detect the wireless fidelity signal of the mobile device;
and determining a first WiFi coordinate of the first mobile equipment at a first moment according to the second information.
Optionally, the second information further includes second related information, the second related information includes at least one of a sequential number of a WiFi probe request frame, a service set identifier, a high throughput, a very high throughput, and a second vendor-defined field, and in the case that the first WiFi coordinate is different from the first bluetooth coordinate, the method further includes, before determining the location coordinate of the first mobile device at the first time according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth location constraint area:
constructing a WiFi information element matrix according to the second information detected at the first moment and the second information of the determined mobile equipment identifier;
comparing at least one wireless fidelity information element matrix with a characteristic model of historical data respectively, and determining a plurality of pieces of second information of mobile equipment with the same type;
carrying out unsupervised clustering on the plurality of second information, and determining the mobile equipment identifier associated with the currently detected second information;
and determining a first WiFi coordinate of the first mobile equipment at the first moment based on second information detected at the first moment, wherein a mobile equipment identifier associated with the second information detected at the first moment is a mobile equipment identifier corresponding to the first mobile equipment.
Optionally, the first information further includes a mobile device identifier, and the second information further includes a mobile device identifier;
determining second target information associated with the first information detected at the first moment according to the mobile equipment identification, wherein the second target information is second information which has the same mobile equipment identification with the first information detected at the first moment in the second information detected at the first moment;
and determining the first WiFi coordinates according to the second target information.
Optionally, the first information further includes first related information, and the first related information includes: at least one of a sequence number of a bluetooth broadcast frame of the mobile device and a first vendor-defined field, determining bluetooth coordinates of the first mobile device at different times according to the first information comprises:
determining first target information based on the first information of the determined mobile equipment identification and the first information detected at the first moment, wherein the first target information comprises at least one of continuity of time information, continuity of sequence numbers of Bluetooth broadcast frames, similarity of first vendor-defined fields and similarity of Bluetooth signal strength;
determining a mobile device identifier associated with first information detected at a first moment based on the first target information and the first information of the determined mobile device identifier, wherein the mobile device identifier associated with the first information detected at the first moment is a mobile device identifier corresponding to the first mobile device;
and determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information detected at the first moment and the mobile equipment identification associated with the first information detected at the first moment.
Optionally, the first information includes a mobile device identifier, and determining the bluetooth coordinate of the first mobile device at the first time according to the first information includes:
determining first information corresponding to first mobile equipment according to the mobile equipment identification;
and determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information corresponding to the first mobile equipment.
In a second aspect, an embodiment of the present application provides a fusion positioning apparatus, including:
the receiving module is used for receiving first information detected by first detection equipment at a first moment, wherein the first information comprises the Bluetooth signal intensity of the mobile equipment, a first Media Access Control (MAC) address in a Bluetooth broadcast frame of the mobile equipment and time information for detecting the Bluetooth signal of the mobile equipment;
the first determining module is used for determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information;
the second determining module is used for determining a Bluetooth positioning constraint area corresponding to the first time according to Bluetooth coordinates of different times in the first time range, wherein the Bluetooth positioning constraint area represents a position limit area of the first mobile equipment at the first time, and the first time range is determined based on the first time;
the third determining module is used for determining the positioning coordinate of the first mobile equipment at the first moment according to the first WiFi coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint area under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at a first moment, the first WiFi coordinate is determined by WiFi signal strength detection based on the second detection device, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
In a third aspect, an embodiment of the present application provides an electronic device, including: the system comprises a memory, a processor and a program stored on the memory and capable of running on the processor, wherein the processor is used for executing the program in the memory to realize the steps of any one of the fusion positioning methods.
In a fourth aspect, an embodiment of the present application provides a readable storage medium for storing a program, where the program is executed by a processor to implement the steps of the fusion positioning method in any one of the above.
In the embodiment of the application, first information detected by first detection equipment at a first moment is received; determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information; determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different times in a first time range; and under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate, determining the positioning coordinate of the first mobile equipment at the first moment according to the first WiFi coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint area. Therefore, the Bluetooth coordinate of the mobile equipment at the first moment is acquired, and then the position information of the mobile equipment at the first moment is acquired in the position limiting area of the mobile equipment at the first moment by combining the WiFi coordinate of the mobile equipment at the first moment and the Bluetooth coordinate at the previous moment, so that the positioning accuracy of the mobile equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, 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 flowchart of a fusion positioning method provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a fusion positioning device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a fusion positioning system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. 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 application.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1, fig. 1 is a flowchart of a fusion positioning method provided in an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
the fusion positioning method provided by the embodiment of the application is mainly used for passive positioning of the mobile device, namely, under the condition that the first detection device is not paired with the mobile device in a Bluetooth mode, the first detection device captures a Bluetooth broadcast frame in an uplink signal of the mobile device.
The number of the first detection devices may be one or more. Further, when the number of the first detection devices is multiple, multiple first detection devices may simultaneously monitor the first information sent by the same mobile device.
It should be understood that the first time is a time when the first detection device currently detects the first information.
Alternatively, the operating mode of the first detection device may be a passive scanning mode.
it should be understood that the first mobile device is determined according to the first MAC address in the first message, and then the bluetooth coordinates of the first mobile device at the first time are determined according to the bluetooth signal strength of the mobile device and the time information of detecting the bluetooth signal of the mobile device.
The first information may include one mobile device, or may include a plurality of mobile devices.
It should be understood that the way of determining the bluetooth coordinates of the first mobile device at the first time according to the first information may be a multilateration way, and may also be a fingerprint way.
103, determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different times in a first time range, wherein the Bluetooth positioning constraint area represents a position limitation area of first mobile equipment at the first time, and the first time range is determined based on the first time;
the first time range is determined based on a first time instant. Further, in the first time range, the first detection device may acquire first information at five different times, or may acquire first information at ten different times.
It should be appreciated that the bluetooth positioning restriction regions described above are established using bluetooth coordinates of the same mobile device at different times of the first time range.
For example, in an embodiment, a circle area is formed by taking the bluetooth coordinate of the last time in the first time range as a center of a circle and taking a distance between the bluetooth coordinate of the last time and the bluetooth coordinate farthest from the bluetooth coordinate of the last time as a radius, and the circle area is the bluetooth positioning restriction area.
104, under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate, determining a positioning coordinate of the first mobile equipment at a first moment according to the first WiFi coordinate, the first Bluetooth coordinate and a Bluetooth positioning constraint area;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at a first moment, the first WiFi coordinate is determined by WiFi signal strength detection based on the second detection device, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
It should be noted that, if the first WiFi coordinate and the first bluetooth coordinate are the same, the first WiFi coordinate or the first bluetooth coordinate is directly used as the location information of the first mobile device at the first time.
Optionally, in some embodiments, it is further required to perform preprocessing on the first information detected by the first detection device at the first time, including:
(1) And performing cyclic redundancy check on the received broadcast frame data and the received detection request frame data of the Bluetooth, and discarding data which does not pass the check.
(2) And filtering the signal intensity of the received Bluetooth broadcast frame data and the received detection request frame data, and discarding the data with the signal intensity less than-100 dBm.
In the embodiment of the application, first information detected by first detection equipment at a first moment is received; determining the Bluetooth coordinates of the first mobile equipment at a first moment according to the first information; determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different times in a first time range; and under the condition that the first wireless fidelity WiFi coordinate is different from the first Bluetooth coordinate, determining the positioning coordinate of the first mobile equipment at the first moment according to the first WiFi coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint area. Therefore, the Bluetooth coordinate of the mobile equipment at the first moment is acquired, and then the position information of the mobile equipment at the first moment is acquired in the position limiting area of the mobile equipment at the first moment by combining the WiFi coordinate of the mobile equipment at the first moment and the Bluetooth coordinate at the previous moment, so that the positioning accuracy of the mobile equipment is improved.
Optionally, in a case that the first WiFi coordinate is different from the first bluetooth coordinate, determining a location coordinate of the first mobile device at the first time according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth location constraint area, includes:
under the condition that the first WiFi coordinate is different from the first Bluetooth coordinate, judging whether the first WiFi coordinate is located in a Bluetooth coordinate constraint area;
when the first WiFi coordinate is located in the Bluetooth coordinate constraint area, taking the midpoint of the first Bluetooth coordinate and the first WiFi coordinate as a positioning coordinate of the first mobile equipment at a first moment;
and when the first WiFi coordinate is located outside the Bluetooth coordinate constraint area, taking the coordinate of the intersection point and the midpoint of the first Bluetooth coordinate as the positioning coordinate of the first mobile equipment at the first moment, wherein the intersection point is the intersection point of the first connecting line and the boundary of the Bluetooth coordinate constraint area, and the first connecting line is the connecting line of the first Bluetooth coordinate and the first WiFi coordinate.
For example, when the bluetooth coordinate constraint area is circular, and when the first WiFi coordinate is different from the first bluetooth coordinate, determining whether the first WiFi coordinate is within the bluetooth coordinate constraint area;
when the first WiFi coordinate is in the Bluetooth coordinate constraint area, taking the midpoint of the first WiFi coordinate and the coordinate of the center of the Bluetooth constraint area as the positioning coordinate of the first mobile equipment at a first moment;
and when the first WiFi coordinate is outside the Bluetooth coordinate constraint area, taking the middle point of the intersection point and the coordinate of the center of the Bluetooth constraint area as the positioning coordinate of the first mobile equipment at the first moment, wherein the intersection point is the intersection point of the connecting line between the first WiFi coordinate and the first Bluetooth coordinate and the boundary of the Bluetooth constraint area.
Optionally, in a case that the first WiFi coordinate is different from the first bluetooth coordinate, determining, according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth location constraint area, a location coordinate of the first mobile device at the first time before, further comprising:
receiving second information detected at the first moment from a second detection device, wherein the second information comprises: a signal strength of a wireless fidelity of the mobile device, a second media access control, MAC, address within a probe request frame of the wireless fidelity of the mobile device, and time information to detect the wireless fidelity signal of the mobile device;
and determining a first WiFi coordinate of the first mobile equipment at the first moment according to the second information.
The WiFi coordinate of the first mobile device at the first time may be determined by using the second information, and may be determined by using multilateral positioning or fingerprint positioning.
Alternatively, the operating mode of the second detection device may be a monitoring mode.
Optionally, the second information further includes second related information, the second related information includes at least one of a sequential number of a WiFi probe request frame, a service set identifier, a high throughput, a very high throughput, and a second vendor-defined field, and in the case that the first WiFi coordinate is different from the first bluetooth coordinate, the method further includes, before determining the location coordinate of the first mobile device at the first time according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth location constraint area:
constructing a WiFi information element matrix according to the second information detected at the first moment and the second information of the determined mobile equipment identifier;
comparing at least one wireless fidelity information element matrix with the characteristic model of the historical data respectively, and determining a plurality of pieces of second information of the mobile equipment with the same type;
carrying out unsupervised clustering on the plurality of pieces of second information, and determining the mobile equipment identification associated with the currently detected second information;
and determining a first WiFi coordinate of the first mobile equipment at the first moment based on second information detected at the first moment, wherein a mobile equipment identifier associated with the second information detected at the first moment is a mobile equipment identifier corresponding to the first mobile equipment.
It should be noted that, unsupervised clustering is performed on the plurality of second information, and a mobile device identifier associated with the currently detected second information is determined; in order to distinguish between at least two mobile devices of the same type.
In the embodiment of the application, through the above manner, the splicing of the second information associated with the second MAC addresses of different second MAC addresses but belonging to the same mobile device can be realized, and the effect of randomizing the second MAC address is achieved.
Optionally, the first information further includes a mobile device identifier, and the second information further includes a mobile device identifier;
determining second target information associated with the first information detected at the first moment according to the mobile equipment identification, wherein the second target information is second information which has the same mobile equipment identification with the first information detected at the first moment in the second information detected at the first moment;
and determining the first WiFi coordinates according to the second target information.
Optionally, the first information further includes first related information, and the first related information includes: at least one of a sequence number of a bluetooth broadcast frame of the mobile device and a first vendor-defined field, determining bluetooth coordinates of the first mobile device at different times according to the first information comprises:
determining first target information based on the first information of the determined mobile equipment identification and the first information detected at the first moment, wherein the first target information comprises at least one of continuity of time information, continuity of sequence numbers of Bluetooth broadcast frames, similarity of first vendor-defined fields and similarity of Bluetooth signal strength;
determining a mobile device identifier associated with first information detected at a first moment based on the first target information and the first information of the determined mobile device identifier, wherein the mobile device identifier associated with the first information detected at the first moment is a mobile device identifier corresponding to the first mobile device;
and determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information detected at the first moment and the mobile equipment identification associated with the first information detected at the first moment.
Optionally, the first information includes a mobile device identifier, and determining the bluetooth coordinate of the first mobile device at the first time according to the first information includes:
determining first information corresponding to first mobile equipment according to the mobile equipment identifier;
and determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information corresponding to the first mobile equipment.
In the embodiment of the application, through the above manner, the splicing of the second information associated with the first MAC addresses belonging to the same mobile device but different first MAC addresses can be realized, and the effect of randomizing the first MAC addresses is achieved.
Referring to fig. 2, an embodiment of the present application provides a schematic structural diagram of a fusion positioning apparatus 200, including:
a first receiving module 201, configured to receive first information detected by a first detecting device at a first time, where the first information includes a bluetooth signal strength of the mobile device, a first media access control MAC address in a bluetooth broadcast frame of the mobile device, and time information for detecting a bluetooth signal of the mobile device;
a first determining module 202, configured to determine a bluetooth coordinate of the first mobile device at a first time according to the first information;
the second determining module 203 is configured to determine, according to bluetooth coordinates at different times within a first time range, a bluetooth positioning constraint area corresponding to the first time, where the bluetooth positioning constraint area represents a position limitation area of the first mobile device at the first time, and the first time range is determined based on the first time;
a third determining module 204, configured to determine, according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth positioning constraint area, a positioning coordinate of the first mobile device at the first moment when the first WiFi coordinate and the first bluetooth coordinate are different;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at a first moment, the first WiFi coordinate is determined by WiFi signal strength detection based on the second detection device, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
Optionally, the third determining module 204 includes:
the judgment sub-module is used for judging whether the first WiFi coordinate is located in the Bluetooth coordinate constraint area or not under the condition that the first WiFi coordinate is different from the first Bluetooth coordinate;
the first determining submodule is used for taking a midpoint of the first Bluetooth coordinate and the first WiFi coordinate as a positioning coordinate of the first mobile equipment at the first moment when the first WiFi coordinate is located in the Bluetooth coordinate constraint area;
and the second determining submodule is used for taking the coordinate of an intersection point and the midpoint of the first Bluetooth coordinate as the positioning coordinate of the first mobile equipment at the first moment when the first WiFi coordinate is located outside the Bluetooth coordinate constraint area, wherein the intersection point is the intersection point of a first connecting line and the boundary of the Bluetooth coordinate constraint area, and the first connecting line is the connecting line of the first Bluetooth coordinate and the first WiFi coordinate.
Optionally, the fusion positioning apparatus 200 further comprises:
a second receiving module, configured to receive second information detected at the first time from the second detecting device, where the second information includes: a signal strength of a wireless fidelity of the mobile device, a second media access control, MAC, address within a probe request frame of the wireless fidelity of the mobile device, and time information to detect the wireless fidelity signal of the mobile device;
a fourth determining module, configured to determine, according to the second information, a first WiFi coordinate of the first mobile device at the first time.
Optionally, the second information further includes second related information, the second related information includes at least one of a sequential number of a WiFi probe request frame, a service set identifier, a high throughput, a very high throughput, and a second vendor-defined field, and the converged positioning device 200 further includes:
the building module is used for building a WiFi information element matrix according to the second information detected at the first moment and the second information of the determined mobile equipment identifier;
the comparison module is used for comparing the at least one wireless fidelity information element matrix with a characteristic model of historical data respectively and determining a plurality of pieces of second information of the mobile equipment with the same type;
a fifth determining module, configured to perform unsupervised clustering on the plurality of pieces of second information, and determine a mobile device identifier associated with the currently detected second information;
a sixth determining module, configured to determine, based on second information detected at the first time, a first WiFi coordinate of the first mobile device at the first time, where a mobile device identifier associated with the second information detected at the first time is a mobile device identifier corresponding to the first mobile device.
Optionally, the first information further includes a mobile device identifier, and the second information further includes a mobile device identifier; the fusion positioning apparatus 200 further includes:
a seventh determining module, configured to determine, according to the mobile device identifier, second target information associated with the first information detected at the first time, where the second target information is second information that has a same mobile device identifier as the first information detected at the first time in the second information detected at the first time;
an eighth determining module, configured to determine the first WiFi coordinate according to the second target information.
Optionally, the first information further includes first related information, and the first related information includes: at least one of a sequence number and a first vendor-defined field of a bluetooth broadcast frame of the mobile device, the first determining module 202 includes:
a third determining sub-module, configured to determine first target information based on the first information of the determined mobile device identifier and the first information detected at the first time, wherein the first target information includes at least one of continuity of the time information, continuity of sequence numbers of the bluetooth broadcast frames, similarity of the first vendor-defined field, and similarity of the bluetooth signal strength;
a fourth determining submodule, configured to determine, based on the first target information and the first information of the determined mobile device identifier, a mobile device identifier associated with the first information detected at the first time, where the mobile device identifier associated with the first information detected at the first time is a mobile device identifier corresponding to the first mobile device;
and the fifth determining submodule is used for determining the Bluetooth coordinate of the first mobile equipment at the first moment according to the first information detected at the first moment and the mobile equipment identifier associated with the first information detected at the first moment.
The fusion positioning device 200 provided in the embodiment of the present application can implement each process in the above method embodiments, and is not described here again to avoid repetition.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a fusion positioning system provided in an embodiment of the present application. As shown in fig. 4, the system comprises at least one bluetooth detection device, at least one WiFi detection device, at least one data parsing gateway and at least one converged positioning server.
It should be understood that the fusion positioning server mainly performs fusion positioning of the WiFI coordinates and the bluetooth coordinates, and performs data management and visualization on WiFI and bluetooth uplink signals and positioning results.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 3, the electronic device includes: may include a processor 301, a memory 302, and a program 3021 stored on the memory 302 and executable on the processor 301.
When executed by the processor 301, the program 3021 may implement any of the steps of the method embodiment shown in fig. 1 and achieve the same advantages, and thus, the description thereof is omitted here.
Those skilled in the art will appreciate that all or part of the steps of the method according to the above embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a readable medium.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information (such as the first information and the second information) of the related user all accord with the regulations of related laws and regulations, and do not violate the common customs of public order.
An embodiment of the present application further provides a readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program may implement any step in the method embodiment corresponding to fig. 1, and may achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The computer-readable storage media of the embodiments of the present application may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a storage medium may be transmitted over any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
While the foregoing is directed to the preferred embodiment of the present application, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the principles of the disclosure, and it is intended that such changes and modifications be considered as within the scope of the disclosure.
Claims (10)
1. A fusion localization method, comprising:
receiving first information detected by a first detection device at a first moment, wherein the first information comprises the Bluetooth signal strength of the mobile device, a first Media Access Control (MAC) address in a Bluetooth broadcast frame of the mobile device and time information for detecting the Bluetooth signal of the mobile device;
determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information;
determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different moments in a first time range, wherein the Bluetooth positioning constraint area represents a position limit area of the first mobile equipment at the first time, and the first time range is determined based on the first time;
under the condition that a first wireless fidelity (WiFi) coordinate is different from a first Bluetooth coordinate, determining a positioning coordinate of the first mobile equipment at the first moment according to the first WiFi coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint area;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at the first moment, wiFi signal strength detection determination is carried out on the first WiFi coordinate based on second detection equipment, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
2. The converged positioning method according to claim 1, wherein the determining the positioning coordinates of the first mobile device at the first time according to the first WiFi coordinates, the first bluetooth coordinates and the bluetooth positioning constraint region in the case that the first WiFi coordinates are different from the first bluetooth coordinates comprises:
under the condition that the first WiFi coordinate is different from the first Bluetooth coordinate, judging whether the first WiFi coordinate is located in the Bluetooth coordinate constraint area;
when the first WiFi coordinate is located in the Bluetooth coordinate constraint area, taking a midpoint of the first Bluetooth coordinate and the first WiFi coordinate as a positioning coordinate of the first mobile equipment at the first moment;
and when the first WiFi coordinate is located outside the Bluetooth coordinate constraint area, taking the coordinate of an intersection point and the midpoint of the first Bluetooth coordinate as the positioning coordinate of the first mobile equipment at the first moment, wherein the intersection point is the intersection point of a first connecting line and the boundary of the Bluetooth coordinate constraint area, and the first connecting line is the connecting line of the first Bluetooth coordinate and the first WiFi coordinate.
3. The converged positioning method according to claim 1, wherein in the case that the first WiFi coordinate is different from the first bluetooth coordinate, determining the positioning coordinate of the first mobile device at the first time according to the first WiFi coordinate, the first bluetooth coordinate and the bluetooth positioning constraint area further comprises:
receiving second information detected at the first moment from the second detection device, wherein the second information comprises: a signal strength of a wireless fidelity of the mobile device, a second media access control, MAC, address within a probe request frame of the wireless fidelity of the mobile device, and time information to detect the wireless fidelity signal of the mobile device;
and determining a first WiFi coordinate of the first mobile equipment at the first moment according to the second information.
4. The converged positioning method of claim 3, wherein the second information further comprises second relevant information, the second relevant information comprising at least one of a sequential number of WiFi probe request frames, a service set identifier, a high throughput, a very high throughput, and a second vendor-defined field, and wherein in the case that the first WiFi coordinate is different from the first Bluetooth coordinate, the first Bluetooth coordinate and the Bluetooth positioning constraint region are used to determine that the positioning coordinate of the first mobile device at the first time is before, the method further comprising:
constructing a WiFi information element matrix according to the second information detected at the first moment and the second information of the determined mobile equipment identifier;
comparing the at least one wireless fidelity information element matrix with a characteristic model of historical data respectively, and determining a plurality of pieces of second information of the mobile equipment with the same type;
carrying out unsupervised clustering on the plurality of second information, and determining the mobile equipment identifier associated with the currently detected second information;
and determining a first WiFi coordinate of the first mobile equipment at the first moment based on second information detected at the first moment, wherein a mobile equipment identifier associated with the second information detected at the first moment is a mobile equipment identifier corresponding to the first mobile equipment.
5. The converged positioning method of claim 4, wherein the first information further includes a mobile device identification, and wherein the second information further includes a mobile device identification;
determining second target information associated with the first information detected at the first moment according to the mobile equipment identification, wherein the second target information is second information which has the same mobile equipment identification with the first information detected at the first moment in the second information detected at the first moment;
and determining the first WiFi coordinates according to the second target information.
6. The fused positioning method according to claim 1, wherein the first information further comprises first related information, the first related information comprising: at least one of a sequence number and a first vendor-defined field of a bluetooth broadcast frame of the mobile device, wherein the determining the bluetooth coordinates of the first mobile device at the first time according to the first information comprises:
determining first target information based on first information of determined mobile equipment identification and first information detected at the first moment, wherein the first target information comprises at least one of continuity of the time information, continuity of sequence numbers of the Bluetooth broadcast frames, similarity of the first vendor-defined field and similarity of the Bluetooth signal strength;
determining a mobile device identifier associated with the first information detected at the first moment based on the first target information and the first information of the determined mobile device identifier, where the mobile device identifier associated with the first information detected at the first moment is a mobile device identifier corresponding to the first mobile device;
and determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information detected at the first moment and the mobile equipment identification associated with the first information detected at the first moment.
7. The converged positioning method of claim 1, wherein the first information comprises a mobile device identification, and wherein determining the bluetooth coordinates of the first mobile device at the first time instant from the first information comprises:
determining first information corresponding to the first mobile equipment according to the mobile equipment identification;
and determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information corresponding to the first mobile equipment.
8. A fusion positioning device, comprising:
the receiving module is used for receiving first information detected by first detection equipment at a first moment, wherein the first information comprises the Bluetooth signal strength of the mobile equipment, a first Media Access Control (MAC) address in a Bluetooth broadcast frame of the mobile equipment and time information for detecting the Bluetooth signal of the mobile equipment;
the first determining module is used for determining the Bluetooth coordinates of the first mobile equipment at the first moment according to the first information;
the second determining module is used for determining a Bluetooth positioning constraint area corresponding to a first time according to Bluetooth coordinates of different times in a first time range, wherein the Bluetooth positioning constraint area represents a position limit area of the first mobile equipment at the first time, and the first time range is determined based on the first time;
a third determining module, configured to determine, according to the first WiFi coordinate, the first bluetooth coordinate, and the bluetooth positioning constraint area, a positioning coordinate of the first mobile device at the first time under a condition that the first wireless fidelity WiFi coordinate is different from the first bluetooth coordinate;
the first WiFi coordinate is a WiFi coordinate of the first mobile device at the first moment, wiFi signal strength detection determination is carried out on the first WiFi coordinate based on second detection equipment, and the first Bluetooth coordinate is a Bluetooth coordinate of the first mobile device at the first moment.
9. An electronic device, comprising: memory, processor and program stored on the memory and executable on the processor, characterized in that the processor is adapted to execute the program in the memory to implement the steps of the fusion localization method according to any of claims 1 to 7.
10. A readable storage medium storing a program, wherein the program, when executed by a processor, implements the steps of the fusion localization method according to any one of claims 1 to 7.
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