CN116866834A

CN116866834A - Positioning method, positioning device and storage medium

Info

Publication number: CN116866834A
Application number: CN202310945666.3A
Authority: CN
Inventors: 苏睿; 李伟; 田庆雨; 巩坤; 秦亚星; 李�根; 亓琪; 谭雅文; 姜建章; 韩军; 王新颖; 孙伟; 孙玉梅
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2023-07-28
Filing date: 2023-07-28
Publication date: 2023-10-10

Abstract

The application provides a positioning method, a positioning device and a storage medium, relates to the technical field of positioning, and can solve the problem of low accuracy of the traditional indoor positioning technology. The method comprises the following steps: acquiring a plurality of positioning information in a first time period and environment parameters of a target area in the first time period, determining a first distance between a Bluetooth beacon terminal and target network equipment according to a signal intensity value of a first Bluetooth signal and the environment parameters of the target area, and determining a second distance between each adjacent network equipment and the Bluetooth beacon terminal according to a signal intensity value of a second Bluetooth signal and the environment parameters of the target area; and determining the position information of the Bluetooth beacon terminal in the first time period according to the first distance and the plurality of second distances. The method and the device can accurately determine the position of the Bluetooth beacon terminal.

Description

Positioning method, positioning device and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method, a positioning device, and a storage medium.

Background

Indoor positioning technology is to measure some parameters of received radio waves by using a wireless mobile communication network, and accurately measure the spatial position of a person or an object at a certain time according to a specific algorithm so as to provide relevant position information service for users or monitor and track in real time.

At present, most indoor places are required to be equipped with corresponding indoor positioning systems, and indoor personnel can be subjected to position checking, tracking management and the like so as to ensure the safety of the personnel and realize efficient control, so that the demands on the accuracy of the position information of the personnel are increasing.

The traditional indoor positioning technology determines the position of the Bluetooth beacon terminal based on the fixed position parameters, and the accuracy is low.

Disclosure of Invention

The application provides a positioning method, a positioning device and a storage medium, solves the problem of low accuracy of the traditional indoor positioning technology, and can accurately determine the position of a Bluetooth beacon terminal.

In order to achieve the above purpose, the application adopts the following technical scheme:

in a first aspect, the present application provides a positioning method, the method comprising: acquiring positioning information and environmental parameters of a target area in a first time period, wherein the plurality of positioning information comprises a signal strength value of a first Bluetooth signal of a Bluetooth beacon terminal received by target network equipment in the first time period and a signal strength value of a second Bluetooth signal of the Bluetooth beacon terminal received by a plurality of adjacent network equipment of the target network equipment in the first time period; determining a first distance between the Bluetooth beacon terminal and the target network device according to the signal intensity values of the first Bluetooth signals and the environmental parameters of the target area in a first time period, and determining a second distance between each adjacent network device and the Bluetooth beacon terminal according to the signal intensity values of a plurality of second Bluetooth signals and the environmental parameters of the target area; and determining the position information of the Bluetooth beacon terminal in the first time period according to the first distance and the plurality of second distances.

With reference to the first aspect, in one possible implementation manner, the method further includes: determining a first environmental parameter between the target network device and any one of the adjacent network devices within a first time period and a second environmental parameter between any two of the plurality of adjacent network devices; the first environment parameter is related to the signal strength of Bluetooth signals transmitted by the target network device and the adjacent network device and the distance between the target network device and the adjacent network device; the second environment parameter is related to the signal intensity of Bluetooth signals transmitted by any two network devices and the distance between any two network devices; and determining the environmental parameters of the target area in the first time period according to the first environmental parameters and the plurality of second environmental parameters.

With reference to the first aspect, in one possible implementation manner, the method further includes: acquiring signal strength indication information of target network equipment in a first time period, wherein the signal strength indication information is used for indicating signal strength values of Bluetooth signals of a plurality of adjacent network equipment; and under the condition that the signal strength value of the Bluetooth signal of the adjacent network equipment is lower than the threshold value, transmitting reconfiguration information to the adjacent network equipment, wherein the reconfiguration information is used for enhancing the transmitting power of the Bluetooth signal of the adjacent network equipment.

With reference to the first aspect, in one possible implementation manner, the target network device configures a battery; the method further comprises the steps of: and receiving electric quantity alarm information from the target network equipment, wherein the electric quantity alarm information is used for indicating that the electric quantity of the battery is lower than a threshold value, and the electric quantity of the battery is determined according to the change degree of the signal intensity of the target network equipment.

With reference to the first aspect, in one possible implementation manner, the method further includes: acquiring a plurality of positioning information and environmental parameters of a target area in a first time period through a long-distance radio LoRa communication gateway, wherein the LoRa communication gateway communicates with target network equipment and a plurality of adjacent network equipment through a LoRa protocol; the LoRa communication gateway is located in the target area.

In a second aspect, the present application provides a positioning device comprising: a communication unit and a processing unit; the communication unit is used for acquiring positioning information and environment parameters of the target area in a first time period, wherein the positioning information comprises a signal intensity value of a first Bluetooth signal of a Bluetooth beacon terminal received by the target network equipment in the first time period and a signal intensity value of a second Bluetooth signal of the Bluetooth beacon terminal received by a plurality of adjacent network equipment of the target network equipment in the first time period; the target network device, the Bluetooth beacon terminal and a plurality of adjacent network devices are located in a target area; the processing unit is used for determining a first distance between the Bluetooth beacon terminal and the target network device according to the signal intensity value of the first Bluetooth signal and the environmental parameter of the target area in the first time period, and determining a second distance between each adjacent network device and the Bluetooth beacon terminal according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area in the first time period; the processing unit is further configured to determine location information of the bluetooth beacon terminal in the first period according to the first distance and the plurality of second distances.

With reference to the second aspect, in a possible implementation manner, the processing unit is further configured to: determining a first environmental parameter between the target network device and any one of the adjacent network devices within a first time period and a second environmental parameter between any two of the plurality of adjacent network devices; the first environment parameter is related to the signal strength of Bluetooth signals transmitted by the target network device and the adjacent network device and the distance between the target network device and the adjacent network device; the second environment parameter is related to the signal intensity of Bluetooth signals transmitted by any two network devices and the distance between any two network devices; and determining the environmental parameters of the target area in the first time period according to the first environmental parameters and the plurality of second environmental parameters.

With reference to the second aspect, in one possible implementation manner, the communication unit is configured to obtain signal strength indication information of the target network device in a first period of time, where the signal strength indication information is used to indicate signal strength values of bluetooth signals of a plurality of neighboring network devices; and the processing unit is used for indicating the communication unit to send reconfiguration information to the adjacent network equipment under the condition that the signal strength value of the Bluetooth signal of the adjacent network equipment is lower than the threshold value, wherein the reconfiguration information is used for enhancing the transmitting power of the Bluetooth signal of the adjacent network equipment.

With reference to the second aspect, in one possible implementation manner, the target network device configures a battery; the communication unit is further used for receiving electric quantity alarm information from the target network equipment, wherein the electric quantity alarm information is used for indicating that the electric quantity of the battery is lower than a threshold value, and the electric quantity of the battery is determined according to the change degree of the signal intensity of the target network equipment.

With reference to the second aspect, in one possible implementation manner, the communication unit is specifically configured to: acquiring a plurality of positioning information and environmental parameters of a target area in a first time period through a long-distance radio LoRa communication gateway, wherein the LoRa communication gateway communicates with target network equipment and a plurality of adjacent network equipment through a LoRa protocol; the LoRa communication gateway is located in the target area.

In a third aspect, the present application provides a positioning device comprising: a processor and a communication interface; the communication interface is coupled to a processor for running a computer program or instructions to implement the positioning method as described in any one of the possible implementations of the first aspect and the first aspect.

In a fourth aspect, the present application provides a computer readable storage medium having instructions stored therein which, when run on a terminal, cause the terminal to perform a positioning method as described in any one of the possible implementations of the first aspect and the first aspect.

In a fifth aspect, the application provides a computer program product comprising instructions which, when run on a positioning device, cause the positioning device to perform the positioning method as described in any of the possible implementations of the first aspect and the first aspect.

In a sixth aspect, the application provides a chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being for running a computer program or instructions to implement a positioning method as described in any one of the possible implementations of the first aspect and the first aspect.

In particular, the chip provided in the present application further includes a memory for storing a computer program or instructions.

It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the apparatus or may be packaged separately from the processor of the apparatus, which is not limited in this respect.

In a seventh aspect, the present application provides a positioning system comprising: a bluetooth beacon terminal, a network device, a LoRa communication gateway and a positioning server for performing the positioning method as described in any one of the possible implementations of the first aspect and the first aspect.

The description of the second to seventh aspects of the present application may refer to the detailed description of the first aspect; also, the advantageous effects described in the second aspect to the seventh aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.

In the present application, the names of the above-mentioned positioning means do not constitute limitations on the devices or function modules themselves, and in actual implementation, these devices or function modules may appear under other names. Insofar as the function of each device or function module is similar to that of the present application, it falls within the scope of the claims of the present application and the equivalents thereof.

These and other aspects of the application will be more readily apparent from the following description.

The scheme at least brings the following beneficial effects: based on the technical scheme, according to the positioning method provided by the application, the first distance between the Bluetooth beacon terminal and the target network device can be determined in real time in the first time period according to the signal intensity value of the first Bluetooth signal and the environmental parameter of the target area in the first time period. And determining a second distance between each adjacent network device and the Bluetooth beacon terminal in the first time period in real time according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area in the first time period. Then, according to the first distance and the plurality of second distances, the position information of the Bluetooth beacon terminal in the first time period is determined, and compared with the traditional indoor positioning technology, the position of the Bluetooth beacon terminal is determined based on fixed position parameters, and the accuracy is lower. According to the technical scheme, the position information of the Bluetooth beacon terminal in the first time period can be accurately determined through the environment parameters of the target area determined in real time.

Drawings

FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a bluetooth beacon terminal according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a network device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a LoRa communication gateway according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a positioning server according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of another positioning server according to an embodiment of the present application;

fig. 7 is a schematic hardware structure of a positioning device according to an embodiment of the present application;

FIG. 8 is a flowchart of a positioning method according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a real-time positioning method according to an embodiment of the present application;

FIG. 10 is a flowchart of another positioning method according to an embodiment of the present application;

FIG. 11 is a flowchart of another positioning method according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a positioning device according to an embodiment 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.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.

The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or between different processes of the same object and not for describing a particular order of objects.

Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.

At present, most daily activities of people are carried out indoors, so that most indoor places are required to be provided with corresponding indoor positioning systems, and the indoor people can be conveniently subjected to position checking, tracking management and the like, so that the safety of the people is ensured, the efficient control is realized, and the demands on the accuracy of the position information of the people are increased.

It should be noted that, the indoor positioning technology utilized by the indoor positioning system is to measure some parameters of the received radio waves by using a wireless mobile communication network, and accurately measure the spatial position of a person or an object at a certain time according to a specific algorithm, so as to provide relevant position information service for a user, or monitor and track in real time.

Aiming at the traditional indoor positioning technology, the traditional indoor positioning technology has high packet loss rate during information transmission, and is difficult to estimate the user quantity which needs to provide positioning service.

Aiming at the Bluetooth beacon terminal in the traditional indoor positioning technology, the Bluetooth beacon terminal in the traditional indoor positioning technology does not form a set of beacon network management system with adjustable parameters in practical application, and the position of the Bluetooth beacon terminal can be determined only through fixed position parameters, so that the accuracy is low. In order to meet the requirement of low power consumption, the conventional bluetooth beacon terminal can limit the transmitting power of bluetooth in the beacon terminal, so that the range of transmitting signals of the bluetooth beacon terminal is too small.

Aiming at network equipment in the traditional indoor positioning technology, when a worker checks the network equipment on line, the traditional network equipment is relatively independent in space distribution, is not arranged normally, and has the problems of complicated check and time consumption. Each device in the traditional indoor positioning technology cannot meet the requirements of small data volume, multiple devices, fixed period, long distance and low power consumption.

In the related art, the indoor positioning method includes: mode 1, a novel positioning device; mode 2, a bluetooth-based parking lot positioning method. Modes 1 and 2 are each described in detail below.

Mode 1, a novel positioning device, including bluetooth positioning beacon, ultra Wide Band (UWB) positioning beacon, positioning tag and positioning base station; the positioning tag comprises a control unit, a Long Range Radio (LoRa) communication unit, a global positioning system (Global Positioning System, GPS) unit and a UWB unit, wherein the control unit is respectively and electrically connected with the LoRa communication unit, the GPS unit and the UWB unit, the control unit receives GPS positioning signals through the GPS unit, the control unit is in wireless communication with the UWB positioning beacon through the UWB unit, the control unit is in wireless communication with the Bluetooth positioning beacon, and the control unit is in wireless communication with the positioning base station through the LoRa communication unit.

The novel positioning device provided in the technical scheme provided in the above mode 1 communicates through bluetooth, and has the problem of short transmission distance.

Mode 2, a parking area location method based on bluetooth, including bluetooth location gateway and cell-phone end, bluetooth location gateway includes bluetooth sniffer and loRa module, gathers bluetooth location label and sends label information to communication protocol (LoRaWAN) gateway, and the data forwarding that receive the loRa module and send is to data receiving platform, and bluetooth location label can be the card style.

The parking positioning scheme based on bluetooth provided in the technical scheme provided in the above manner 2 also has a problem of short transmission distance because the parking positioning scheme is communicated through bluetooth.

In view of the above, the present application provides a positioning method, which can determine, in real time, a first distance between a bluetooth beacon terminal and a target network device in a first period of time according to a signal strength value of a first bluetooth signal and an environmental parameter of a target area in the first period of time. And determining a second distance between each adjacent network device and the Bluetooth beacon terminal in the first time period in real time according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area in the first time period. Then, according to the first distance and the plurality of second distances, the position information of the Bluetooth beacon terminal in the first time period is determined, and compared with the traditional indoor positioning technology, the position of the Bluetooth beacon terminal is determined based on fixed position parameters, and the accuracy is lower. According to the technical scheme, the position information of the Bluetooth beacon terminal in the first time period can be accurately determined through the environment parameters of the target area determined in real time.

It can be understood that the position information of the bluetooth beacon terminal in the first time period can be intuitively presented on the display page of the positioning server, and a manager can view the real-time position of the bluetooth beacon terminal in the first time period through the display interface of the positioning server. People can be reasonably scheduled according to the real-time position of the Bluetooth beacon terminal based on the function. When emergency events such as fire and earthquake occur, people can be reasonably arranged to evacuate according to real-time data provided by the positioning server, so that the indoor safety is greatly improved.

The following describes embodiments of the present application in detail with reference to the drawings.

Fig. 1 is a block diagram of a positioning system 10 according to an embodiment of the present application. As shown in fig. 1, the positioning system 10 includes: bluetooth beacon terminal 101, network device 102, loRa communication gateway 103, and location server 104.

Wherein the bluetooth beacon terminal 101 and the network device 102 are located in a target environment. Bluetooth beacon terminal 101 is connected to network device 102 via a wireless communication link. Network device 102 is connected to a LoRa communication gateway 103 via a communication link, and LoRa communication gateway 103 is connected to a positioning server 104 via a communication link. The communication link may be a wired communication link or a wireless communication link, which is not limited in this regard by the present application.

In one possible implementation, the bluetooth beacon terminal 101 broadcasts information such as the RSSI value and the ID value of the bluetooth beacon terminal to the network device 102 in real time. The network device 102 transmits the received information such as the RSSI value and the ID value to the positioning server 104 via the LoRa communication gateway 103. Application services such as positioning data acquisition, positioning track inquiry, network equipment state display, control network equipment instruction issuing and the like are realized by the positioning server 104.

Hereinafter, the internal structure of the bluetooth beacon terminal 101 will be specifically described.

In one possible implementation, as shown in fig. 2, bluetooth beacon terminal 101 includes a bluetooth beacon 1011; the bluetooth beacon 1011 includes a broadcast module 10111 and a battery 10112.

Wherein the broadcasting module 10111 is connected with the battery 10112.

By way of example, the bluetooth beacon terminal 101 may be a tablet, a bracelet, a helmet, or the like equipped with a bluetooth beacon 1011. The bluetooth beacon 1011 of the bluetooth beacon terminals 101 has a unique ID, and the bluetooth beacon 1011 is integrated with a broadcasting module 10111, and the bluetooth beacon terminals 101 can periodically transmit the ID value, RSSI value of the bluetooth beacon 1011 to the network device 102 through the broadcasting module 10111 based on the form of the bluetooth 4.0 protocol.

It should be noted that the battery 10112 is used to supply power to the broadcasting module 10111.

In the embodiment of the present application, in order to reduce the power consumption of the terminal, the bluetooth beacon 1011 has a function of broadcasting information outwards, but does not have a function of receiving information.

The internal structure of the network device 102 is described in detail below.

In one possible implementation, as shown in fig. 3, a bluetooth beacon 1021 is provided on the network device 102. Bluetooth beacon 1021 includes a broadcast module 10211, a battery 10212, a BLE monitoring module 10213, and a LoRa node module 10214.

The broadcast module 10211 is communicatively connected to the BLE monitor module 10213, the BLE monitor module 10213 is communicatively connected to the LoRa node module 10214, and the battery 10212 is connected to the broadcast module 10211, the BLE monitor module 10213, and the LoRa node module 10214, respectively.

Wherein, the broadcasting module 10211 is used for broadcasting information periodically in a low-power state for a long time; the battery 10212 is used to power the broadcast module 10211, BLE monitoring module 10213, and LoRa node module 10214; the BLE monitoring module 10123 is configured to monitor broadcast information of the bluetooth beacon terminal 101 and the neighboring network device 102 in real time; the LoRa node module 10214 is configured to establish communication with the LoRa communication gateway 103.

The following describes the specific configuration of the LoRa communication gateway 103 in detail.

In one possible implementation, as shown in fig. 4, the LoRa communication gateway 103 includes an antenna 1031, a LoRa gateway module 1032, a master control module 1033, and a network communication module 1034.

The antenna 1031 is communicatively connected to the LoRa gateway module 1032, the LoRa gateway module 1032 is communicatively connected to the main control module 1033, and the main control module 1033 is communicatively connected to the network communication module 1034.

In one example, antenna 1031 may receive the ID value and RSSI value of bluetooth beacon 1011 forwarded from network device 102 and then forward the ID value and RSSI value of bluetooth beacon 1011 to location server 104 through LoRa gateway module 1032, master control module 1033 and network communication module 1034. Accordingly, the remote control modification command issued by the positioning server 104 is also quickly and efficiently sent to the corresponding network device 102 through the LoRa gateway module 1032, the main control module 1033 and the network communication module 1034.

After the main control module 1033 establishes a communication link with the positioning server 104, the network communication module 1034 can ensure that the communication connection state between the main control module 1033 and the positioning server 104 is normal. The main control module 1033 pre-processes the upload data and the download instructions according to a preset data correlation protocol, and establishes a data buffer area with reference to the data transmission state between the LoRa gateway module 1032 and the network device 102.

For the communication process between the LoRa communication gateway 103 and the plurality of network devices 102, the LoRa communication gateway 103 can communicate with the plurality of network devices 102, so that when the network devices 102 are deployed, the number of the network devices 102 and the deployment area location can be set according to actual requirements. Because the data volume transmitted by the network device 102 and the LoRa communication gateway 103 is small and needs to be kept in a long-time working state, a LoRa communication mode can be adopted between the LoRa communication gateway and the network device 102. Ensuring that good communication can be achieved while reducing power consumption of the device in the case where the network device 102 is far from the communication gateway 103.

The data communication mode of the LoRa is bidirectional communication, so that bidirectional communication between the network device 102 and the LoRa communication gateway 103 can be realized at the time of positioning.

The specific configuration of the positioning server 104 is specifically described below. As shown in fig. 5, the positioning server 104 may include a front end, a back end, and a database.

The database is used for storing data information forwarded by the LoRa communication gateway 103; the rear end is used for carrying out related calculation on the data information to obtain position data and sending the position data to the front end; the front end is used for visually displaying the calculated data. Based on the database, front end and back end in the positioning server 104, application services such as personnel positioning data acquisition, positioning track inquiry, status display of network equipment, and control of instruction issue of the network equipment can be realized. The functions of the front-end, the back-end and the database will be described below.

1. A front end.

The specific device of the front end may be a client or browser page, etc. The front end can design and realize a front-end display page based on a Bootstrap framework. The Bootstrap framework is an open source toolkit based on a front-end development language such as HTML, CSS, javaScript. And the user can intuitively check and use the personnel positioning data obtained by the back-end calculation through the display page at the front end.

2. And a rear end.

The back end is developed based on the SpringBoot framework and is used for receiving a request initiated by the front end. Wherein, the back end can be a host or a server, etc.

3. And (5) a database.

The database may be the database MySQL. The location server 104 stores the data via MySQL database. The location server 104 implements database add-delete-modify-check through Mybatis framework. Wherein Mybatis is a persistent layer framework supporting custom SQL, stored procedures, and advanced mapping.

Optionally, the positioning server 104 receives data from the LoRa communication gateway 103 according to the data interaction specification through a preset data interaction specification. The positioning server 104 may also parse the received data according to a preset format specification, and store the parsed data in a database.

In one example, as shown in fig. 6, the database receives the upload data from the LoRa communication gateway in TCP protocol through the data upload interface, and sends the download instruction information to the LoRa communication gateway 103 in TCP protocol through the instruction issue interface. The database stores therein data of the bluetooth beacon terminal 101, map data, data of the network device 102, locator data, manager data, and environmental parameters of the indoor ranging model. The positioning server 104 can realize functions of real-time positioning, online monitoring, login and registration, data visualization, equipment management, remote control and the like based on the data stored in the database.

In one example, in an embodiment of the present application, the communication procedure between the backend and the LoRa communication gateway 103 may include:

the backend establishes a TCP connection with the LoRa communication gateway 103, and may receive raw data uploaded from the LoRa communication gateway 103 and issue instructions to the LoRa communication gateway 103.

In an example, in an embodiment of the present application, the interaction procedure between the front end and the back end may include:

front-end and back-end interactions are accomplished through the hypertext transfer protocol (HTTP) protocol. The HTTP protocol is a stateless protocol belonging to an application layer, and the front end uses Ajax technology as a client to send a service request to the back end. The back end receives the request and returns response information to the front end, so that the interaction between the front end and the back end is realized.

The implementation of the map module in the location server 104 is described in detail below.

In one example, the location server 104 is provided with functionality to obtain personnel location information. The map is a carrier for a manager to acquire the motion state of the positioning personnel, and the specific position of the positioning personnel can be intuitively acquired through the map, so that the personnel positioning needs to be displayed by the map corresponding to the positioning environment. The positioning server 104 needs to acquire map information corresponding to the positioning environment and network device information in the map. Thus, the front end needs to register the network device 102 in the map module before this. When the network device 102 is deployed, the network device 102 information (X, Y coordinates, ID values, etc.) is registered on the front-end display page, and after the registration, the corresponding display of the layer of the network device 102 can be seen on the map of the front-end display page. In addition, the display page at the front end needs to be matched with a map for use when the positioning data and the positioning track of the personnel are displayed. The map module has the following functions to be realized:

1) And displaying the map. The target area is displayed in the form of a picture. Wherein the picture can be resized.

2) And (5) marking coordinates. The mouse can pop up the coordinate data of the current position after clicking a certain position of the map, and the network device 102 can be registered more conveniently according to the known data.

3) And (5) file service. The manager can import the actual map of the target area and can modify map parameters, select the map to be used for positioning.

4) And (5) positioning service. The map can display the motion state of the positioning personnel and the historical motion trail of the personnel.

Optionally, the map application in the presentation page of the front end realizes an open source architecture based on Openlayers. The Openlayers open source architecture is a JavaScript library for Web GIS development, and map information can be displayed on a Web end in a picture format.

Illustratively, the location server 104 also provides a number of functions, as shown in Table 1. Function 1, binding a positioning person with Bluetooth beacon terminal equipment; 2, uploading a map and registering network equipment; function 3, checking the motion state and track history playback of the positioning personnel; function 4, the command issues remote control network equipment, and the network equipment responds to the command; function 5, on-line monitoring the working state of the network equipment and main parameters of the Bluetooth indoor ranging model; and 6, managing and counting the positioning log, the positioning personnel and the network equipment.

Table 1 positioning server function table

Sequence number	Specific requirements
		Function 1	Locating person and Bluetooth beacon terminal equipment bind
Function 2	Map upload, network device registration
		Function 3	Viewing motion state and track history playback of a locator
Function 4	The command issuing remote control network device, and the network device responds to the command
		Function 5	On-line monitoring network equipment working state and main parameters of Bluetooth indoor ranging model
Function 6	Location log, location personnel and network equipment management statistics

Specifically, the positioning server 104 has a registration and login function for a manager and a locator, and after registration and login, the user name of the locator can be bound with the bluetooth beacon terminal.

Specifically, for the process of registering the network device 102 in the map module at the front end, the manager may effectively register or de-register the network device 102 on the location server 104. Registration of the network device 102 refers to a process of selecting a location of the network device 102 on a loaded map and filling in registration information of the network device 102, such as deployment coordinates of the network device 102, its unique ID value, etc., before positioning, and finally storing in a database. After successful registration, the manager can query the map and the information of the network devices 102 registered on the map.

Specifically, the positioning server 104 provides a data visualization function, and the manager can view the real-time position of the positioning person through the browser page, and can further know the motion state of the positioning person more clearly so as to make a next work instruction. In addition, the operating state of the network device 102 and the parameters a and n of the indoor ranging model of the network device 102 may also be queried and counted in real time.

The parameter a is a signal strength RSSI value received by the network device 102 when the distance between the bluetooth beacon terminal 101 and the network device 102 is equal to 1 m. The parameter n represents the path loss index, and the value of the parameter n is related to the number of obstacles in the target area and the temperature and humidity of the target area.

When implemented in hardware, the various modules in the location server 104 may be integrated into the hardware structure of the location device as shown in fig. 7. Specifically, as shown in fig. 7, the basic hardware structure of the positioning device is described.

Fig. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present application. As shown in fig. 7, the positioning device comprises at least one processor 701, a communication line 702, and at least one communication interface 704, and may also comprise a memory 703. The processor 701, the memory 703 and the communication interface 704 may be connected by a communication line 702.

The processor 701 may be a central processing unit (central processing unit, CPU), or may be an integrated circuit (application specific integrated circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present application, such as: one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA).

Communication line 702 may include a path for communicating information between the components described above.

The communication interface 704, for communicating with other devices or communication networks, may use any transceiver-like device, such as ethernet, radio access network (radio access network, RAN), wireless local area network (wireless local area networks, WLAN), etc.

The memory 703 may be, but is not limited to, read-only memory (ROM) or other type of static storage device that can store static information and instructions, random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, but may also be electrically erasable programmable read-only memory (EEPROM), compact disc-read only memory (compact disc read-only memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be utilized to contain or store the desired program code in the form of instructions or data structures and that can be accessed by a computer.

In a possible design, the memory 703 may exist independent of the processor 701, i.e. the memory 703 may be a memory external to the processor 701, in which case the memory 703 may be connected to the processor 701 via a communication line 702 for storing execution instructions or application program code, and the execution is controlled by the processor 701 to implement the positioning method provided by the embodiments of the present application described below. In yet another possible design, the memory 703 may be integrated with the processor 701, i.e., the memory 703 may be internal to the processor 701, e.g., the memory 703 may be a cache, may be used to store some data and instruction information, etc.

As one possible implementation, the processor 701 may include one or more CPUs, such as CPU0 and CPU1 in fig. 7. As another possible implementation, the positioning device may include multiple processors, such as processor 701 and processor 707 in fig. 7. As yet another possible implementation, the positioning apparatus may further include an output device 705 and an input device 706.

It should be noted that, the embodiments of the present application may refer to or refer to each other, for example, the same or similar steps, and the method embodiment, the system embodiment and the device embodiment may refer to each other, which is not limited.

Fig. 8 is a flowchart of a positioning method according to an embodiment of the present application, which can be applied to the positioning system 10 shown in fig. 1 and the positioning device shown in fig. 7. As shown in fig. 8, the method includes S801 to S803.

S801, acquiring positioning information and environment parameters of a target area in a first time period.

The plurality of positioning information comprises a signal strength value of a first Bluetooth signal of the Bluetooth beacon terminal received by the target network device in a first time period and a signal strength value of a second Bluetooth signal of the Bluetooth beacon terminal received by a plurality of adjacent network devices of the target network device in the first time period. For example, the positioning information may include a received signal strength indication (received signal strength indication, RSSI). The RSSI may be used to indicate a signal strength value of a bluetooth signal of a received bluetooth beacon terminal. The target network device, the bluetooth beacon terminal, and a plurality of neighboring network devices are located in a target area.

In one example, a bluetooth beacon terminal may transmit a bluetooth signal containing location information to a network device at a preset time period. The network device may receive a bluetooth signal from a bluetooth beacon terminal. For example, in connection with the positioning system of fig. 1, in a case where the terminal device is located in the target area and a bluetooth communication connection is established with the target network device and the neighboring network device, the terminal device may periodically send a bluetooth signal to the target network device and the neighboring network device. Accordingly, the target network device and the neighboring network device receive bluetooth signals from the bluetooth beacon terminal.

For example, the network device may send positioning information, which may include a signal strength value obtained by the network device, to a positioning server through the LoRa communication gateway. Accordingly, the positioning server can obtain the positioning information sent by the target network device and the adjacent devices.

It may be appreciated that, in the embodiment of the present application, the environmental parameter of the target area may be the number of obstacles in the target area, the distribution range of the obstacles, and the temperature and humidity of the target area.

In a possible implementation, the determination of the environmental parameters of the target area may refer to the embodiment shown in fig. 10.

In one possible implementation, the location server obtains IDs and RSSI values that the bluetooth beacon terminal sends to the target network device and a plurality of neighboring network devices of the target network device, respectively, during a first time period. The location server also obtains environmental parameters of a target network device, a bluetooth beacon terminal, and a target area where a plurality of neighboring network devices are located.

Illustratively, as shown in fig. 9, the network device monitors the ID and RSSI values broadcast by the bluetooth beacon terminal based on the form of the bluetooth 4.0 protocol and the IDs and RSSI values broadcast by the neighboring network devices based on the form of the bluetooth 4.0 protocol. The network device sends the information to the LoRa communication gateway. The LoRa communication gateway receives and forwards the information to the positioning server. The positioning server receives the information and stores the information into a database.

S802, determining a first distance between the Bluetooth beacon terminal and the target network device according to the signal intensity value of the first Bluetooth signal and the environmental parameter of the target area, and determining a second distance between each adjacent network device and the Bluetooth beacon terminal according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area.

In a possible manner, the positioning server inputs the RSSI value of the first bluetooth signal and the environmental parameter of the target area into the indoor ranging model, so as to obtain a first distance between the bluetooth beacon terminal and the target network device. And the positioning server inputs the RSSI value of the second Bluetooth signal and the environmental parameters of the target area into the indoor ranging model to obtain the second distance between the Bluetooth beacon terminal and each adjacent network device of the target network device.

In one example, the distance d between the bluetooth beacon terminal and the network device may be determined according to a preset formula in the indoor ranging model. For example, the preset formula may be: RSSI = a-10nlgd.

The RSSI represents a signal strength value of a Bluetooth signal received by the network equipment from a Bluetooth beacon terminal; a is a signal strength RSSI value received by the network equipment when the distance between the Bluetooth beacon terminal and the network equipment is equal to 1 m; n represents the path loss index, and the value of n is related to the number of obstacles in the target area and the temperature and humidity of the target area.

For example, in combination with the above predetermined formula, the RSSI value of the first bluetooth signal is taken as RSSI-1 as an example. First distance between bluetooth beacon terminal and target network deviceTaking the signal strength value of the second bluetooth signal as RSSI-2 as an example. Second distance between bluetooth beacon terminal and neighboring network device +.>For example, when rssi= -80dbm, a is-120 dbm, and n is 2, the value of distance d is 2m.

S803, determining location information of the bluetooth beacon terminal in the first period according to the first distance and the plurality of second distances.

In one possible implementation, the location information of the bluetooth beacon terminal is determined based on a three-point positioning algorithm or a weighted centroid algorithm in combination with the distance of the bluetooth beacon terminal from different network devices.

Based on the technical scheme, according to the positioning method provided by the application, the first distance between the Bluetooth beacon terminal and the target network device can be determined in real time in the first time period according to the signal intensity value of the first Bluetooth signal and the environmental parameter of the target area in the first time period. And determining a second distance between each adjacent network device and the Bluetooth beacon terminal in the first time period in real time according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area in the first time period. Then, according to the first distance and the plurality of second distances, the position information of the Bluetooth beacon terminal in the first time period is determined, and compared with the traditional indoor positioning technology, the position of the Bluetooth beacon terminal is determined based on fixed position parameters, and the accuracy is lower. According to the technical scheme, the position information of the Bluetooth beacon terminal in the first time period can be accurately determined through the environment parameters of the target area determined in real time.

As a possible embodiment of the present application, as shown in fig. 10, the above-described determination process of the environmental parameters of the target area in S801 may be implemented by the following S1001 to S1002.

S1001, determining a first environmental parameter between the target network device and any one of the adjacent network devices and a second environmental parameter between any two network devices in the plurality of adjacent network devices in the first period.

The first environment parameter is related to the signal strength of Bluetooth signals transmitted by the target network equipment and the adjacent network equipment and the distance between the target network equipment and the adjacent network equipment; the second environmental parameter is related to the signal strength of the bluetooth signal transmitted by any two network devices, the distance between any two network devices.

In one example, network devices may be communicatively coupled. For example, a neighboring device of the target network device may also send a bluetooth signal containing location information to the target network device. In this manner, the target network device may obtain the signal strength value of the bluetooth signal broadcast by the neighboring network device. Thus, the positioning server can determine the environmental parameters of the target area where any two network devices are located according to the distance between any two network devices and the signal strength value of the broadcast Bluetooth signal.

Exemplary, the process of determining the first environmental parameter in the embodiment of the present application includes: the positioning server obtains the signal strength of Bluetooth signals transmitted by the target network device and the adjacent network device and the distance between the target network device and the adjacent network device. Then, the positioning server determines a first environmental parameter of a target area where the target network device and the adjacent network device are located based on signal strengths of Bluetooth signals transmitted by the target network device and the adjacent network device and a distance between the target network device and the adjacent network device.

Exemplary, the process of determining the second environmental parameter in the embodiment of the present application includes: the second environment parameter positioning server obtains the signal strength of Bluetooth signals transmitted by any two network devices in the plurality of adjacent network devices and the distance between any two network devices. Then, the positioning server determines a second environment parameter of the target area where the plurality of adjacent network devices are located based on the signal strength of the Bluetooth signals transmitted by any two network devices in the plurality of adjacent network devices and the distance between any two network devices.

S1002, determining the environmental parameters of the target area according to the first environmental parameters and the plurality of second environmental parameters.

In a possible implementation manner, the positioning server determines an average value of the first environmental parameter and the plurality of second environmental parameters as the environmental parameter of the target area.

Based on the technical scheme, the first environment parameter between the target network device and any one of the adjacent network devices in the first time period and the second environment parameter between any two network devices in the plurality of adjacent network devices are determined, and according to the first environment parameter and the plurality of second environment parameters, the environment parameter of the target area in the first time period can be accurately determined, and errors in determining the Bluetooth beacon terminal are reduced.

As a possible embodiment of the present application, as shown in fig. 11, the procedure of reconfiguring the neighboring network device may be implemented by the following S1101-S1102.

S1101, acquiring signal strength indication information of target network equipment in a first time period.

The signal strength indication information is used for indicating signal strength values of Bluetooth signals of a plurality of adjacent network devices.

In a possible implementation manner, the target network device monitors signal strength values of bluetooth signals of a plurality of adjacent network devices, and the target network device monitors the bluetooth signals of the target network device and the bluetooth signals of the adjacent network devices of the target network device in a preset time period. If the monitored Bluetooth signal contains the Bluetooth signal of the target beacon base station and does not contain the Bluetooth signal of the adjacent network equipment, the target network equipment determines that the adjacent network equipment has faults.

And S1102, under the condition that the signal strength value of the Bluetooth signal of the adjacent network equipment is lower than a threshold value, transmitting reconfiguration information to the adjacent network equipment, wherein the reconfiguration information is used for enhancing the transmitting power of the Bluetooth signal of the adjacent network equipment.

In one possible implementation, if the target network device determines that the neighboring network device has a failure, the target network device sends reconfiguration indication information to the location server. Responding to reconfiguration indication information of a user for adjacent network equipment, generating reconfiguration information by a positioning server, and sending the reconfiguration information to a communication gateway; the communication gateway analyzes the reconfiguration information and determines the network equipment to be changed as adjacent network equipment; the communication gateway sends reconfiguration information to the adjacent network equipment; the neighboring network device executes reconfiguration information to achieve enhancement of the transmission power of the Bluetooth signal of the neighboring network device.

Alternatively, the adjacent network device presence failure may include sleep failure, signaling power failure, and operational mode failure, among others. For example, when the neighboring network device is a sleep failure, the positioning server sends wake-up indication information to the neighboring network device. And under the condition that the signal transmission power of the adjacent network equipment is lower than a preset threshold value, and the signal intensity value of the adjacent network equipment is lower than the threshold value, the positioning server transmits indication information for increasing the signal transmission power to the adjacent network equipment. When the duty cycle of the adjacent network device does not meet the service requirement, the positioning server may generate duty cycle reconfiguration information in response to an indication by the user of a changed duty cycle for the adjacent network device. And under the condition that the working mode of the adjacent network equipment fails, the positioning server sends the working mode reconfiguration information to the adjacent network equipment.

Based on the technical scheme, the signal strength indication information of the target network equipment in the first time period is obtained. And under the condition that the signal intensity value of the Bluetooth signal of the adjacent network equipment is lower than the threshold value, transmitting reconfiguration information to the adjacent network equipment, wherein the reconfiguration information is used for enhancing the transmitting power of the Bluetooth signal of the adjacent network equipment, so that the state of each network equipment in the positioning system can be ensured to be normal, and the subsequent real-time monitoring of the position of the Bluetooth beacon terminal is ensured.

As a possible embodiment of the present application, the target network device configures the battery, and the process of monitoring the power of the target network device may be implemented as follows.

In one possible implementation, power alert information is received from a target network device.

The electric quantity warning information is used for indicating that the electric quantity of the battery is lower than a threshold value, and the electric quantity of the battery is determined according to the change degree of the signal intensity of the target network equipment.

For example, if the attenuation intensity of the signal intensity value of the bluetooth signal of the target network device is greater than the preset threshold value in the preset time period, the target network device determines that the electric quantity of the target network device is too low. Then, the target network device sends the electric quantity warning information to the positioning server.

Based on the technical scheme, the positioning server receives the electric quantity warning information from the target network equipment, so that the power supply of the target network equipment can be replaced in time in the later period.

The embodiment of the application can divide the functional modules or functional units of the positioning device according to the method example, for example, each functional module or functional unit can be divided corresponding to each function, and two or more functions can be integrated in one processing module. The integrated modules may be implemented in hardware, or in software functional modules or functional units. The division of the modules or units in the embodiment of the present application is schematic, which is merely a logic function division, and other division manners may be implemented in practice.

As shown in fig. 12, a schematic structural diagram of a positioning device 120 according to an embodiment of the present application is provided, where the device includes: the communication unit 1201 and the processing unit 1202.

A communication unit 1201, configured to obtain positioning information and an environmental parameter of a target area in a first period, where the positioning information includes a signal strength value of a first bluetooth signal of a bluetooth beacon terminal received by a target network device in the first period, and a signal strength value of a second bluetooth signal of the bluetooth beacon terminal received by a plurality of neighboring network devices of the target network device in the first period; the target network device, the bluetooth beacon terminal, and a plurality of neighboring network devices are located in a target area.

The processing unit 1202 is configured to determine a first distance between the bluetooth beacon terminal and the target network device according to the signal strength value of the first bluetooth signal and the environmental parameter of the target area in the first period, and determine a second distance between each neighboring network device and the bluetooth beacon terminal according to the signal strength value of the second bluetooth signal and the environmental parameter of the target area in the first period.

The processing unit 1202 is further configured to determine location information of the bluetooth beacon terminal in the first period according to the first distance and the plurality of second distances.

The processing unit 1202 is further configured to: determining a first environmental parameter between the target network device and any one of the adjacent network devices within a first time period and a second environmental parameter between any two of the plurality of adjacent network devices; the first environment parameter is related to the signal strength of Bluetooth signals transmitted by the target network device and the adjacent network device and the distance between the target network device and the adjacent network device; the second environment parameter is related to the signal intensity of Bluetooth signals transmitted by any two network devices and the distance between any two network devices; and determining the environmental parameters of the target area in the first time period according to the first environmental parameters and the plurality of second environmental parameters.

A communication unit 1201, configured to obtain signal strength indication information of the target network device in a first period, where the signal strength indication information is used to indicate signal strength values of bluetooth signals of a plurality of neighboring network devices.

A processing unit 1202, configured to instruct the communication unit 1201 to send reconfiguration information to the neighboring network device, where the signal strength value of the bluetooth signal of the neighboring network device is lower than a threshold value, where the reconfiguration information is used to enhance the transmission power of the bluetooth signal of the neighboring network device.

The target network equipment configures a battery; the communication unit 1201 is further configured to receive power alert information from the target network device, where the power alert information is used to indicate that the power of the battery is lower than a threshold, and the power of the battery is determined according to the degree of change of the signal strength of the target network device.

The communication unit 1201 is specifically configured to: acquiring a plurality of positioning information and environmental parameters of a target area in a first time period through a long-distance radio LoRa communication gateway, wherein the LoRa communication gateway communicates with target network equipment and a plurality of adjacent network equipment through a LoRa protocol; the LoRa communication gateway is located in the target area.

In a possible implementation manner, the positioning device 120 may further include a storage unit 1203 (shown in a dashed box in fig. 12), where the storage unit 1203 stores a program or instructions, which when executed by the processing unit 1202, enable the positioning device 120 to perform the positioning method described in the above method embodiment.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

Embodiments of the present application provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the positioning method of the above-described method embodiments.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores instructions which, when run on a computer, cause the computer to execute the positioning method in the method flow shown in the method embodiment.

The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a register, a hard disk, 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, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuit, ASIC). In embodiments of the present application, 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.

Since the positioning device, the computer readable storage medium and the computer program product in the embodiments of the present application can be applied to the above-mentioned method, the technical effects obtained by the positioning device, the computer readable storage medium and the computer program product can also refer to the above-mentioned method embodiments, and the embodiments of the present application are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, 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 interface, indirect coupling or communication connection of devices or units, electrical, mechanical, or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The present application is not limited to the above embodiments, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of positioning, the method comprising:

acquiring positioning information and environmental parameters of a target area in a first time period, wherein the positioning information comprises a signal intensity value of a first Bluetooth signal of a Bluetooth beacon terminal received by target network equipment in the first time period and a signal intensity value of a second Bluetooth signal of the Bluetooth beacon terminal received by a plurality of adjacent network equipment of the target network equipment in the first time period; the target network device, the Bluetooth beacon terminal and the plurality of adjacent network devices are located in the target area;

Determining a first distance between the Bluetooth beacon terminal and the target network device according to the signal intensity value of the first Bluetooth signal and the environmental parameter of the target area in a first time period, and determining a second distance between each adjacent network device and the Bluetooth beacon terminal according to the signal intensity value of the second Bluetooth signal and the environmental parameter of the target area in the first time period;

and determining the position information of the Bluetooth beacon terminal in the first time period according to the first distance and the plurality of second distances.

2. The method according to claim 1, wherein the method further comprises:

determining a first environmental parameter between the target network device and any one of the neighboring network devices and a second environmental parameter between any two of the plurality of neighboring network devices during the first time period; the first environment parameter is related to the signal strength of Bluetooth signals transmitted by the target network device and the adjacent network device and the distance between the target network device and the adjacent network device; the second environmental parameter is related to the signal intensity of the Bluetooth signal transmitted by any two network devices and the distance between any two network devices;

And determining the environmental parameters of the target area in a first time period according to the first environmental parameters and the plurality of second environmental parameters.

3. The method according to claim 1, wherein the method further comprises:

acquiring signal strength indication information of target network equipment in the first time period, wherein the signal strength indication information is used for indicating signal strength values of Bluetooth signals of the plurality of adjacent network equipment;

and under the condition that the signal strength value of the Bluetooth signal of the adjacent network equipment is lower than a threshold value, transmitting reconfiguration information to the adjacent network equipment, wherein the reconfiguration information is used for enhancing the transmitting power of the Bluetooth signal of the adjacent network equipment.

4. The method of claim 1, wherein the target network device configures a battery; the method further comprises the steps of:

and receiving electric quantity alarm information from the target network equipment, wherein the electric quantity alarm information is used for indicating that the electric quantity of the battery is lower than a threshold value, and the electric quantity of the battery is determined according to the change degree of the signal intensity of the target network equipment.

5. The method of claim 1, wherein the obtaining positioning information and the environmental parameters of the target area over the first time period comprises:

Acquiring the plurality of positioning information and the environmental parameters of the target area in a first time period through a long-distance radio (LoRa) communication gateway, wherein the LoRa communication gateway communicates with the target network equipment and the plurality of adjacent network equipment through a LoRa protocol; the LoRa communication gateway is located in the target area.

6. A positioning device, characterized in that the device comprises a communication unit and a processing unit;

the communication unit is configured to obtain positioning information and an environmental parameter of a target area in a first period, where the positioning information includes a signal strength value of a first bluetooth signal of a bluetooth beacon terminal received by a target network device in the first period, and a signal strength value of a second bluetooth signal of the bluetooth beacon terminal received by a plurality of neighboring network devices of the target network device in the first period; the target network device, the Bluetooth beacon terminal and the plurality of adjacent network devices are located in the target area;

the processing unit is configured to determine a first distance between the bluetooth beacon terminal and the target network device according to the signal strength value of the first bluetooth signal and an environmental parameter of the target area in a first period, and determine a second distance between each neighboring network device and the bluetooth beacon terminal according to the signal strength value of the second bluetooth signal and the environmental parameter of the target area in the first period;

The processing unit is further configured to determine location information of the bluetooth beacon terminal in the first period according to the first distance and the plurality of second distances.

7. The apparatus of claim 6, wherein the processing unit is further configured to:

8. The apparatus of claim 6, wherein the device comprises a plurality of sensors,

the communication unit is configured to obtain signal strength indication information of a target network device in the first period, where the signal strength indication information is used to indicate signal strength values of bluetooth signals of the plurality of neighboring network devices;

The processing unit is configured to instruct the communication unit to send reconfiguration information to the neighboring network device, where the reconfiguration information is used to enhance the transmission power of the bluetooth signal of the neighboring network device, when the signal strength value of the bluetooth signal of the neighboring network device is lower than a threshold value.

9. The apparatus of claim 6, wherein the target network device configures a battery;

the communication unit is further configured to receive electric quantity alarm information from the target network device, where the electric quantity alarm information is used to indicate that the electric quantity of the battery is lower than a threshold value, and the electric quantity of the battery is determined according to the degree of change of the signal intensity of the target network device.

10. The apparatus according to claim 6, wherein the communication unit is specifically configured to:

11. A positioning device, comprising: a processor and a communication interface; the communication interface is coupled to the processor for running a computer program or instructions to implement the positioning method according to any of claims 1-5.

12. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein instructions, which when executed by a computer, the computer performs the positioning method according to any of claims 1-5.