CN116528360B - Bluetooth AOA positioning resolving method - Google Patents
Bluetooth AOA positioning resolving method Download PDFInfo
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- CN116528360B CN116528360B CN202310811394.8A CN202310811394A CN116528360B CN 116528360 B CN116528360 B CN 116528360B CN 202310811394 A CN202310811394 A CN 202310811394A CN 116528360 B CN116528360 B CN 116528360B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application discloses a resolving method for Bluetooth AOA positioning, which relates to the technical field of Bluetooth AOA positioning and comprises the following steps: step S1, setting an array structure of a receiving antenna in a receiving base station based on the heights of a plurality of objects, and setting a positioning resolving method; step S2, an error resolving model is established, the positioning effect of the receiving base station is subjected to initial test for a plurality of times by using the error resolving model, and the positioning resolving method is updated based on the test result; step S3, adjusting the position of the receiving base station, carrying out a plurality of mobile tests on the plurality of tests in the step S2, and updating a positioning calculation method based on the result of the mobile test; the application optimizes the existing Bluetooth AOA positioning technology to solve the problem that the positioning solution of the target object in the prior art is not accurate enough in position determination.
Description
Technical Field
The application relates to the technical field of Bluetooth AOA positioning, in particular to a resolving method for Bluetooth AOA positioning.
Background
In the technical field of the internet of things, AOA generally has the following meanings: ranging the arrival angle; angle-of-Arrival (AOA) is a positioning algorithm based on signal Arrival Angle, is a typical positioning algorithm based on ranging, senses the Arrival direction of signals of transmitting nodes through certain hardware equipment, calculates the relative azimuth or Angle of a base station and a terminal, then calculates the position of an unknown node by using a triangulation method or other modes, and is a common wireless sensor network node self-positioning algorithm.
The existing application is improved in the aspect of bluetooth AOA positioning, and is usually improved on a bluetooth module, so as to reduce the power consumption of the bluetooth AOA positioning in operation, for example, the bluetooth AOA positioning device is disclosed as follows: in the application document of CN115589633a, a "bluetooth low energy AOA positioning system and method" are disclosed, where the solution is to improve the bluetooth module, reduce the power consumption of the device and ensure the positioning accuracy, and meanwhile, in other aspects of existing bluetooth AOA positioning, a new bluetooth AOA system is usually proposed or the housing of the receiving base station is improved, and there is no effective improvement on the positioning solution of bluetooth AOA positioning, so that in this aspect, it is necessary to improve the existing bluetooth AOA positioning.
Disclosure of Invention
The application aims to solve at least one of the technical problems in the prior art to a certain extent, and solves the problems that the positioning and resolving of the target object is not accurate enough due to the defect of the improvement of the Bluetooth AOA positioning and resolving method in the prior art by optimizing the Bluetooth AOA positioning and resolving method and improving the Bluetooth AOA positioning and resolving method by adjusting the position of the receiving terminal.
In order to achieve the above object, the present application provides a solution method for bluetooth AOA positioning, including:
step S1, acquiring heights of a plurality of objects in a test space, setting an array structure of a receiving antenna in a receiving base station based on the heights of the plurality of objects, and setting a positioning resolving method;
step S2, an error resolving model is established, the positioning effect of the receiving base station is subjected to initial test for a plurality of times by using the error resolving model, and the positioning resolving method is updated based on the test result;
and S3, adjusting the position of the receiving base station, performing a plurality of mobile tests on the plurality of tests in the step S2, and updating the positioning calculation method based on the result of the mobile test.
Further, the array structure for setting the receiving antennas in the receiving base station based on the heights of the plurality of objects in the step S1 includes the following sub-steps:
step S101, acquiring the heights of a plurality of objects in a test space, and recording the heights as a height 1 to a height N;
step S102, obtaining the maximum value and the minimum value of the height 1 to the height N, and recording the value obtained by subtracting the minimum value from the maximum value as the level difference;
when the level difference is smaller than the first level, setting an array structure of a receiving antenna in the receiving base station as a rectangular array;
when the level difference is greater than or equal to the first level, the array structure of the receiving antennas in the receiving base station is set to be a ring array.
Further, the setting of different positioning solutions for different array structures in step S1 includes the following sub-steps:
step S103, the positioning terminal sends out Bluetooth data once every first standard time in the test space, after sending the Bluetooth data once, three receiving antennas which receive the Bluetooth data first in the rectangular array of the receiving antennas are obtained, the receiving antenna which receives the Bluetooth data first is marked as an antenna 1, the receiving antenna which receives the Bluetooth data second is marked as an antenna 2, and the receiving antenna which receives the Bluetooth data third is marked as an antenna 3;
calculating a complementary angle of an angle 1 by using a direction angle formula, wherein the angle 1 is an angle formed among an antenna 3, the antenna 1 and a positioning terminal, and the antenna 3 is a vertex angle;
the direction angle formula is as follows: θ=arccose (λ×ΔΦ/2ρd), where λ is a signal wavelength sent by the positioning terminal, ΔΦ is a phase difference of the same signal received by the antenna 1 and the antenna 3, θ is a complementary angle of the angle 1, and d is a distance between the antenna 1 and the antenna 3;
calculating a complementary angle of an angle 2 by using a direction angle formula, wherein the angle 2 is an angle formed among the antenna 1, the antenna 2 and the positioning terminal, and the antenna 2 is a vertex angle;
step S104, acquiring parameters of length, width and height of a test space and the position of a receiving base station in the test space, constructing a three-dimensional virtual model, and marking an antenna 1, an antenna 2 and an antenna 3 at the position of the receiving base station in the three-dimensional virtual model;
determining the directions of the antenna 3 and the positioning terminal by using the angle 1;
the plane where the angle 1 is located takes the antenna 3 as a circle center, the direction of the antenna 3 and the positioning terminal is a circle in the radial direction, and the circle is marked as a circle 1;
determining the directions of the antenna 2 and the positioning terminal by using the angle 2;
taking the antenna 2 as a circle center on a plane where the angle 2 is positioned, and making a circle with the antenna 2 and the direction of the positioning terminal as radial directions, and marking the circle as a circle 2;
the radius length of the circle 1 and the circle 2 is gradually increased, a straight line where the circle 1 and the circle 2 intersect is marked as a final line, and an intersection point of a ray emitted by the antenna 3 in the angle 1 towards the positioning terminal and the final line is marked as an ending point, wherein the ending point is a point where the positioning terminal is located.
Further, the step S2 includes the following sub-steps:
step S201, an error resolving model is established, position coordinates of a positioning terminal and position coordinates of a receiving base station are set in the error resolving model, the position coordinates of the positioning terminal are marked as actual coordinates, the receiving base station is placed at the position coordinates of the receiving base station, the receiving base station uses the step S1 to mark the point of the positioning terminal obtained by the receiving base station as calculated coordinates, the actual coordinates are compared with the calculated coordinates, and comparison errors are obtained, wherein the comparison errors comprise horizontal errors and direction errors;
step S202, updating the positioning solution method in the step S103 and the step S104 based on the comparison error;
step S203, for each updated positioning solution, repeating steps S201 to S202 after changing the position coordinates of the positioning terminal and the receiving base station of the error solution model.
Further, the step S201 includes the following sub-steps:
step S2011, acquiring the heights of the actual coordinates and the calculated coordinates in a test space, and recording the heights as the actual heights and the calculated heights;
the absolute values of the actual height and the calculated height are obtained and recorded as error heights, and when the error heights are larger than or equal to the first standard height, the horizontal errors are recorded as first-level horizontal errors;
when the error height is larger than or equal to the second standard height and smaller than the first standard height, the horizontal error is recorded as a second-level horizontal error;
when the error height is smaller than the second standard height, the horizontal error is recorded as no horizontal error;
step S2012, obtaining a linear distance between the actual coordinates and the calculated coordinates, and recording the linear distance as a direction distance;
when the direction distance is smaller than or equal to the first direction distance, the direction error is recorded as no direction error;
when the direction distance is larger than the first direction distance and smaller than or equal to the second direction distance, acquiring the horizontal error at the moment, and when the horizontal error is a primary horizontal error or a secondary horizontal error, recording the direction error as no direction error; when the horizontal error is no horizontal error, the direction error is recorded as a secondary direction error;
when the direction distance is larger than or equal to the second direction distance, acquiring a horizontal error at the moment, and when the horizontal error is a first-level horizontal error, recording the direction error as a no-direction error; when the horizontal error is a secondary horizontal error, the direction error is recorded as a secondary direction error; when the horizontal error is no horizontal error, the direction error is recorded as a first-order direction error.
Further, the step S202 includes the following sub-steps:
step S2021, when the horizontal error is no horizontal error and the direction error is no direction error, not performing adjustment;
step S2022, when the horizontal error is a first-level horizontal error, acquiring an actual height and a calculated height, and when the actual height is greater than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the first adjustment height as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the final point is moved downwards by the first height adjustment is recorded as the point position of the positioning terminal obtained in the step S1;
step S2023, performing a second experiment when the horizontal error is the second level error, and when the horizontal error of the second experiment is still the second level error; acquiring the actual height and the calculated height, and when the actual height is larger than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the second height adjustment as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the second height adjustment is moved downwards is recorded as the point position of the positioning terminal obtained in the step S1;
step S2024, when the direction error is the first-order error, acquiring the error height and the direction distance, and determining the transverse distance between the actual height and the calculated height by Pythagorean theorem;
the direction of the calculated coordinates towards the actual coordinates is obtained and is marked as an adjustment direction, and the position of the final point obtained in the step S1 after the final point moves by a first transverse distance towards the adjustment direction is marked as the point position of the positioning terminal obtained in the step S1;
in step S2025, when the direction error is the second level error, a second experiment is performed, and when the direction error in the second experiment is still the second level error, the position of the final point obtained in step S1 after the final point is moved by the second lateral distance in the adjustment direction is recorded as the point location of the positioning terminal obtained in step S1.
Further, the step S3 includes the following sub-steps:
step S301, when the horizontal error in the step S201 is no horizontal error and the direction error is no direction error, acquiring coordinates of a positioning terminal and a receiving base station at the moment;
step S302, moving coordinates of a receiving base station;
step S303, after each movement of the receiving base station, using step S201 to the coordinates of the receiving base station and the coordinates of the positioning base station after the movement, and recording the obtained comparison error as a movement error;
in step S304, when the horizontal error is not the no-horizontal error or the directional error is not the no-directional error, the positioning solution is updated in step S202.
Further, the step S302 includes the following sub-steps:
step S3021, moving the coordinates of the receiving base station up a first moving distance every first moving time, and moving the coordinates of the receiving base station down a second moving distance every second moving time after the first moving time;
step S3022, repeating step S3021 every second operation time.
The application has the beneficial effects that: the application sets the array structure of the receiving antenna in the receiving base station based on the heights of a plurality of objects by acquiring the heights of a plurality of objects in the test space and sets different positioning resolving methods for different array structures, which has the advantages that for different test environments in the test space, the sensitivity of the receiving base station to signal receiving can be effectively improved by changing the array structure of the receiving antenna in the receiving base station, so that the receiving base station can more accurately judge the position of the positioning terminal;
the application also carries out a plurality of initial tests on the positioning effect of the receiving base station by establishing an error resolving model and using the error resolving model, and updates the positioning resolving method based on the test result;
the application also carries out a plurality of mobile tests on a plurality of tests in the step S2 by adjusting the position of the receiving base station, and updates the positioning calculation method based on the result of the mobile test.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
FIG. 1 is a flow chart of the method of the present application;
fig. 2 is a schematic diagram of acquiring a point location of a positioning terminal in step S1 of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, the present application provides a solution method for bluetooth AOA positioning, including:
step S1, acquiring heights of a plurality of objects in a test space, setting an array structure of a receiving antenna in a receiving base station based on the heights of the plurality of objects, and setting a positioning resolving method;
the array structure for setting the receiving antennas in the receiving base station based on the heights of the plurality of objects in the step S1 includes the following sub-steps:
step S101, acquiring the heights of a plurality of objects in a test space, and recording the heights as a height 1 to a height N;
step S102, obtaining the maximum value and the minimum value of the height 1 to the height N, and recording the value obtained by subtracting the minimum value from the maximum value as the level difference;
when the level difference is smaller than the first level, setting an array structure of a receiving antenna in the receiving base station as a rectangular array;
when the level difference is greater than or equal to the first level, setting an array structure of a receiving antenna in the receiving base station as an annular array;
in the implementation process, the first horizontal height is 1m, when the height difference of a plurality of objects in the test space is overlarge, the annular array can be used for receiving signals more stably, and when the height difference of a plurality of objects in the test environment is smaller, the rectangular array can be used for effectively improving the receiving range and keeping the positioning accuracy stable;
the setting of different positioning resolving methods for different array structures in step S1 comprises the following sub-steps:
step S103, the positioning terminal sends out Bluetooth data once every first standard time in the test space, after sending the Bluetooth data once, three receiving antennas which receive the Bluetooth data first in the rectangular array of the receiving antennas are obtained, the receiving antenna which receives the Bluetooth data first is marked as an antenna 1, the receiving antenna which receives the Bluetooth data second is marked as an antenna 2, and the receiving antenna which receives the Bluetooth data third is marked as an antenna 3;
in a specific implementation process, the first standard time is 500ms;
calculating a complementary angle of an angle 1 by using a direction angle formula, wherein the angle 1 is an angle formed among an antenna 3, the antenna 1 and a positioning terminal, and the antenna 3 is a vertex angle;
the direction angle formula is: θ=arccose (λ×ΔΦ/2ρd), where λ is a signal wavelength sent by the positioning terminal, ΔΦ is a phase difference of the same signal received by the antenna 1 and the antenna 3, θ is a complementary angle of the angle 1, and d is a distance between the antenna 1 and the antenna 3;
in the specific implementation process, the value of pi is set to be 3.14, the value of delta phi is detected to be 6.28, the value of lambda is detected to be 10, and the value of d is detected to be 20, if theta is calculated to be 60, the angle 1 is equal to 30 degrees, and the angle formed among the antenna 3, the antenna 1 and the positioning terminal is 30 degrees;
calculating a complementary angle of an angle 2 by using a direction angle formula, wherein the angle 2 is an angle formed among the antenna 1, the antenna 2 and the positioning terminal, and the antenna 2 is a vertex angle;
step S104, acquiring parameters of length, width and height of a test space and the position of a receiving base station in the test space, constructing a three-dimensional virtual model, and marking an antenna 1, an antenna 2 and an antenna 3 at the position of the receiving base station in the three-dimensional virtual model;
determining the directions of the antenna 3 and the positioning terminal by using the angle 1;
the plane where the angle 1 is located takes the antenna 3 as a circle center, the direction of the antenna 3 and the positioning terminal is a circle in the radial direction, and the circle is marked as a circle 1;
determining the directions of the antenna 2 and the positioning terminal by using the angle 2;
taking the antenna 2 as a circle center on a plane where the angle 2 is positioned, and making a circle with the antenna 2 and the direction of the positioning terminal as radial directions, and marking the circle as a circle 2;
referring to fig. 2, where P1 is an antenna 3, P2 is an antenna 2, P3 is an antenna 1, P4 is an end point, P5 is a circle 1, P6 is a circle 2, radius lengths of the circle 1 and the circle 2 are gradually increased, a straight line intersecting the circle 1 and the circle 2 is referred to as a final line, an intersection point of a ray emitted by the antenna 3 toward the positioning terminal in the angle 1 and the final line is referred to as an end point, and the end point is a point where the positioning terminal is located;
step S2, an error resolving model is established, the positioning effect of the receiving base station is subjected to initial test for a plurality of times by using the error resolving model, and the positioning resolving method is updated based on the test result;
step S2 comprises the following sub-steps:
step S201, an error resolving model is established, position coordinates of a positioning terminal and position coordinates of a receiving base station are set in the error resolving model, the position coordinates of the positioning terminal are marked as actual coordinates, the receiving base station is placed at the position coordinates of the receiving base station, the receiving base station uses the step S1 to mark the point of the positioning terminal obtained by the receiving base station as calculated coordinates, the actual coordinates are compared with the calculated coordinates, and comparison errors are obtained, wherein the comparison errors comprise horizontal errors and direction errors;
step S201 includes the following sub-steps:
step S2011, acquiring the heights of the actual coordinates and the calculated coordinates in a test space, and recording the heights as the actual heights and the calculated heights;
the absolute values of the actual height and the calculated height are obtained and recorded as error heights, and when the error heights are larger than or equal to the first standard height, the horizontal errors are recorded as first-level horizontal errors;
when the error height is larger than or equal to the second standard height and smaller than the first standard height, the horizontal error is recorded as a second-level horizontal error;
when the error height is smaller than the second standard height, the horizontal error is recorded as no horizontal error;
in the specific implementation process, the first standard height is 80cm, the second horizontal height is 40cm, and if the detected error height is 50cm, the horizontal error is recorded as a second-level horizontal error;
step S2012, obtaining a linear distance between the actual coordinates and the calculated coordinates, and recording the linear distance as a direction distance;
when the direction distance is smaller than or equal to the first direction distance, the direction error is recorded as no direction error;
when the direction distance is larger than the first direction distance and smaller than or equal to the second direction distance, acquiring the horizontal error at the moment, and when the horizontal error is a primary horizontal error or a secondary horizontal error, recording the direction error as no direction error; when the horizontal error is no horizontal error, the direction error is recorded as a secondary direction error;
in the specific implementation process, when the direction distance is greater than the first direction distance and less than or equal to the second direction distance and the horizontal error is larger at the moment, the main direction component of the direction distance is a component in the vertical direction, so that the direction error can be ignored, and when the horizontal error is smaller, the main direction component of the direction distance is a component in the transverse direction, and the direction error should be analyzed;
when the direction distance is larger than or equal to the second direction distance, acquiring a horizontal error at the moment, and when the horizontal error is a first-level horizontal error, recording the direction error as a no-direction error; when the horizontal error is a secondary horizontal error, the direction error is recorded as a secondary direction error; when the horizontal error is no horizontal error, the direction error is marked as a first-level direction error;
in the specific implementation process, the first direction distance is 50cm, the second direction distance is 100cm, the detected direction distance is 70cm, the horizontal error at the moment is a second-level horizontal error, and the direction error is marked as no direction error;
step S202, updating the positioning solution method in the step S103 and the step S104 based on the comparison error;
step S202 includes the following sub-steps:
step S2021, when the horizontal error is no horizontal error and the direction error is no direction error, not performing adjustment;
step S2022, when the horizontal error is a first-level horizontal error, acquiring an actual height and a calculated height, and when the actual height is greater than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the first adjustment height as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the final point is moved downwards by the first height adjustment is recorded as the point position of the positioning terminal obtained in the step S1;
step S2023, performing a second experiment when the horizontal error is the second level error, and when the horizontal error of the second experiment is still the second level error; acquiring the actual height and the calculated height, and when the actual height is larger than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the second height adjustment as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the second height adjustment is moved downwards is recorded as the point position of the positioning terminal obtained in the step S1;
in the specific implementation process, the first adjustment height is 60% of the error height, and the second adjustment height is 80% of the error height;
in the specific implementation process, the secondary experiment is performed to prevent inaccurate detection caused by low-probability accidents, and the detection can be better judged by performing the secondary experiment;
step S2024, when the direction error is the first-order error, acquiring the error height and the direction distance, and determining the transverse distance between the actual height and the calculated height by Pythagorean theorem; in the specific implementation, the connection line between the actual height and the calculated height is set as the hypotenuse of the right triangle, the horizontal height difference between the actual height and the calculated height is the error height, the error height is one vertical right angle side of the right triangle, and the obtained transverse distance is the length of the other right angle side of the right triangle;
the direction of the calculated coordinates towards the actual coordinates is obtained and is marked as an adjustment direction, and the position of the final point obtained in the step S1 after the final point moves by a first transverse distance towards the adjustment direction is marked as the point position of the positioning terminal obtained in the step S1;
step S2025, when the direction error is the secondary error, performing a second experiment, and when the direction error of the second experiment is still the secondary error, recording the position of the final point obtained in the step S1 after the final point moves by a second transverse distance towards the adjustment direction as the point position of the positioning terminal obtained in the step S1;
step S203, for each updated positioning calculation method, repeating steps S201 to S202 after changing the position coordinates of the positioning terminal and the receiving base station of the error calculation model;
step S3, adjusting the position of the receiving base station, carrying out a plurality of mobile tests on the plurality of tests in the step S2, and updating a positioning calculation method based on the result of the mobile test;
step S3 comprises the following sub-steps:
step S301, when the horizontal error in the step S201 is no horizontal error and the direction error is no direction error, acquiring coordinates of a positioning terminal and a receiving base station at the moment;
step S302, moving coordinates of a receiving base station;
step S302 includes the following sub-steps:
step S3021, moving the coordinates of the receiving base station up a first moving distance every first moving time, and moving the coordinates of the receiving base station down a second moving distance every second moving time after the first moving time;
step S3022, repeating step S3021 every second operation time;
in the specific implementation process, the first moving time is 30s, the second moving time is 15s, the first moving distance is 40cm, the second moving distance is 20cm, the first running time is 2min, and the second running time is 5min;
step S303, after each movement of the receiving base station, using step S201 to the coordinates of the receiving base station and the coordinates of the positioning base station after the movement, and recording the obtained comparison error as a movement error;
in step S304, when the horizontal error is not the no-horizontal error or the directional error is not the no-directional error, the positioning solution is updated in step S202.
Working principle: firstly, the application sets an array structure of a receiving antenna in a receiving base station based on the heights of a plurality of objects in a test space by acquiring the heights of the plurality of objects, and sets a positioning resolving method; then, an error resolving model is established, the positioning effect of the receiving base station is subjected to a plurality of initial tests by using the error resolving model, and the positioning resolving method is updated based on the test result; and finally, adjusting the position of the receiving base station, performing a plurality of mobile tests on the plurality of tests in the step S2, and updating the positioning calculation method based on the result of the mobile test.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein. The storage medium may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Claims (2)
1. The resolving method for Bluetooth AOA positioning is characterized by comprising the following steps:
step S1, acquiring heights of a plurality of objects in a test space, setting an array structure of a receiving antenna in a receiving base station based on the heights of the plurality of objects, and setting a positioning resolving method;
step S2, an error resolving model is established, the positioning effect of the receiving base station is subjected to initial test for a plurality of times by using the error resolving model, and the positioning resolving method is updated based on the test result;
step S3, adjusting the position of the receiving base station, carrying out a plurality of mobile tests on the plurality of tests in the step S2, and updating a positioning calculation method based on the result of the mobile test;
the array structure for setting the receiving antennas in the receiving base station based on the heights of the plurality of objects in the step S1 includes the following sub-steps:
step S101, acquiring the heights of a plurality of objects in a test space, and recording the heights as a height 1 to a height N;
step S102, obtaining the maximum value and the minimum value of the height 1 to the height N, and recording the value obtained by subtracting the minimum value from the maximum value as the level difference;
when the level difference is smaller than the first level, setting an array structure of a receiving antenna in the receiving base station as a rectangular array;
when the level difference is greater than or equal to the first level, setting an array structure of a receiving antenna in the receiving base station as an annular array;
the step S1 further comprises the following sub-steps:
step S103, the positioning terminal sends out Bluetooth data once every first standard time in the test space, after sending the Bluetooth data once, three receiving antennas which receive the Bluetooth data first in the rectangular array of the receiving antennas are obtained, the receiving antenna which receives the Bluetooth data first is marked as an antenna 1, the receiving antenna which receives the Bluetooth data second is marked as an antenna 2, and the receiving antenna which receives the Bluetooth data third is marked as an antenna 3;
calculating a complementary angle of an angle 1 by using a direction angle formula, wherein the angle 1 is an angle formed among an antenna 3, the antenna 1 and a positioning terminal, and the antenna 3 is a vertex angle;
the direction angle formula is as follows: θ=arccose (λ×ΔΦ/2ρd), where λ is a signal wavelength sent by the positioning terminal, ΔΦ is a phase difference of the same signal received by the antenna 1 and the antenna 3, θ is a complementary angle of the angle 1, and d is a distance between the antenna 1 and the antenna 3;
calculating a complementary angle of an angle 2 by using a direction angle formula, wherein the angle 2 is an angle formed among the antenna 1, the antenna 2 and the positioning terminal, and the antenna 2 is a vertex angle;
step S104, acquiring parameters of length, width and height of a test space and the position of a receiving base station in the test space, constructing a three-dimensional virtual model, and marking an antenna 1, an antenna 2 and an antenna 3 at the position of the receiving base station in the three-dimensional virtual model;
determining the directions of the antenna 3 and the positioning terminal by using the angle 1;
the plane where the angle 1 is located takes the antenna 3 as a circle center, the direction of the antenna 3 and the positioning terminal is a circle in the radial direction, and the circle is marked as a circle 1;
determining the directions of the antenna 2 and the positioning terminal by using the angle 2;
taking the antenna 2 as a circle center on a plane where the angle 2 is positioned, and making a circle with the antenna 2 and the direction of the positioning terminal as radial directions, and marking the circle as a circle 2;
gradually increasing the radius length of the circle 1 and the circle 2, marking a straight line where the circle 1 and the circle 2 intersect as a final line, marking an intersection point of a ray emitted by the antenna 3 in the angle 1 towards the positioning terminal and the final line as an ending point, wherein the ending point is a point where the positioning terminal is located;
the step S2 comprises the following sub-steps:
step S201, an error resolving model is established, position coordinates of a positioning terminal and position coordinates of a receiving base station are set in the error resolving model, the position coordinates of the positioning terminal are marked as actual coordinates, the receiving base station is placed at the position coordinates of the receiving base station, the receiving base station uses the step S1 to mark the point of the positioning terminal obtained by the receiving base station as calculated coordinates, the actual coordinates are compared with the calculated coordinates, and comparison errors are obtained, wherein the comparison errors comprise horizontal errors and direction errors;
step S202, updating the positioning solution method in the step S103 and the step S104 based on the comparison error;
step S203, for each updated positioning calculation method, repeating steps S201 to S202 after changing the position coordinates of the positioning terminal and the receiving base station of the error calculation model;
the step S201 includes the following sub-steps:
step S2011, acquiring the heights of the actual coordinates and the calculated coordinates in a test space, and recording the heights as the actual heights and the calculated heights;
the absolute values of the actual height and the calculated height are obtained and recorded as error heights, and when the error heights are larger than or equal to the first standard height, the horizontal errors are recorded as first-level horizontal errors;
when the error height is larger than or equal to the second standard height and smaller than the first standard height, the horizontal error is recorded as a second-level horizontal error;
when the error height is smaller than the second standard height, the horizontal error is recorded as no horizontal error;
step S2012, obtaining a linear distance between the actual coordinates and the calculated coordinates, and recording the linear distance as a direction distance;
when the direction distance is smaller than or equal to the first direction distance, the direction error is recorded as no direction error;
when the direction distance is larger than the first direction distance and smaller than or equal to the second direction distance, acquiring the horizontal error at the moment, and when the horizontal error is a primary horizontal error or a secondary horizontal error, recording the direction error as no direction error; when the horizontal error is no horizontal error, the direction error is recorded as a secondary direction error;
when the direction distance is larger than or equal to the second direction distance, acquiring a horizontal error at the moment, and when the horizontal error is a first-level horizontal error, recording the direction error as a no-direction error; when the horizontal error is a secondary horizontal error, the direction error is recorded as a secondary direction error; when the horizontal error is no horizontal error, the direction error is marked as a first-level direction error;
the step S202 includes the following sub-steps:
step S2021, when the horizontal error is no horizontal error and the direction error is no direction error, not performing adjustment;
step S2022, when the horizontal error is a first-level horizontal error, acquiring an actual height and a calculated height, and when the actual height is greater than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the first adjustment height as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the final point is moved downwards by the first height adjustment is recorded as the point position of the positioning terminal obtained in the step S1;
step S2023, performing a second experiment when the horizontal error is the second level error, and when the horizontal error of the second experiment is still the second level error; acquiring the actual height and the calculated height, and when the actual height is larger than the calculated height, recording the position of the final point obtained in the step S1 after the final point is moved upwards by the second height adjustment as the point position of the positioning terminal obtained in the step S1; when the actual height is smaller than the calculated height, the position of the final point obtained in the step S1 after the second height adjustment is moved downwards is recorded as the point position of the positioning terminal obtained in the step S1;
step S2024, when the direction error is the first-order error, acquiring the error height and the direction distance, and determining the transverse distance between the actual height and the calculated height by Pythagorean theorem;
the direction of the calculated coordinates towards the actual coordinates is obtained and is marked as an adjustment direction, and the position of the final point obtained in the step S1 after the final point moves by a first transverse distance towards the adjustment direction is marked as the point position of the positioning terminal obtained in the step S1;
step S2025, when the direction error is the secondary error, performing a second experiment, and when the direction error of the second experiment is still the secondary error, recording the position of the final point obtained in the step S1 after the final point moves by a second transverse distance towards the adjustment direction as the point position of the positioning terminal obtained in the step S1;
the step S3 includes the following sub-steps:
step S301, when the horizontal error in the step S201 is no horizontal error and the direction error is no direction error, acquiring coordinates of a positioning terminal and a receiving base station at the moment;
step S302, moving coordinates of a receiving base station;
step S303, after each movement of the receiving base station, using step S201 to the coordinates of the receiving base station and the coordinates of the positioning base station after the movement, and recording the obtained comparison error as a movement error;
in step S304, when the horizontal error is not the no-horizontal error or the directional error is not the no-directional error, the positioning solution is updated in step S202.
2. The method according to claim 1, wherein the step S302 comprises the following sub-steps:
step S3021, moving the coordinates of the receiving base station up a first moving distance every first moving time, and moving the coordinates of the receiving base station down a second moving distance every second moving time after the first moving time;
step S3022, repeating step S3021 every second operation time.
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