CN116916443A - Positioning method, positioning device, communication equipment and storage medium - Google Patents
Positioning method, positioning device, communication equipment and storage medium Download PDFInfo
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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
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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
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
Abstract
The application relates to a positioning method, a positioning device, a communication device and a storage medium. The method comprises the following steps: acquiring a current relative position of a current point and a current point feasibility track, and acquiring reference relative positions of at least two reference points and a reference point feasibility track; the current relative position and the reference relative position are different; for each reference point, determining a relative offset between the reference point and the current point based on the reference relative position and the current relative position; moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track; and determining an intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point. The method can improve the positioning accuracy.
Description
Technical Field
The present application relates to the field of artificial intelligence technologies, and in particular, to a positioning method, a positioning device, a communication device, and a storage medium.
Background
The Bluetooth positioning technology is a short-distance wireless communication positioning technology with low cost, low energy consumption, low complexity and high sensitivity, and Bluetooth equipment participating in positioning has the characteristics of low power consumption, high connection speed and the like, and is widely applied to positioning of various intelligent service scenes.
In the conventional technology, a bluetooth RSSI (Received Signal Strength Indicator, received signal strength) positioning method is generally used for positioning, and a positioning device needs to receive broadcast information of at least 3 bluetooth devices to implement positioning of a target object, which results in lower positioning accuracy.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a positioning method, a device, a communication apparatus, and a storage medium that can improve positioning accuracy.
In a first aspect, the present application provides a positioning method. The method comprises the following steps:
acquiring a current relative position of a current point and a current point feasibility track, and acquiring reference relative positions of at least two reference points and a reference point feasibility track; the current relative position and the reference relative position are different;
determining, for each of the reference points, a relative offset between the reference point and the current point based on the reference relative position and the current relative position;
moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track;
and determining an intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point.
In one embodiment, the obtaining the current relative position of the current point and the current point feasibility track includes:
acquiring the current relative position of the current point;
acquiring the current received signal strength corresponding to the current broadcast information; the current broadcast information is sent by a target Bluetooth base station;
determining a first relative distance between the current point and the target Bluetooth base station based on the current received signal strength;
and determining the current point feasibility track of the current point by taking the base station position of the target Bluetooth base station as a center and the first relative distance as a radius.
In one embodiment, the obtaining the current relative position of the current point includes:
acquiring the step length of a target object and the current pose information of the current point;
acquiring a relative movement track corresponding to the target object, and acquiring a latest relative position corresponding to the latest moment from the relative movement track;
and determining the current relative position of the current point based on the current pose information, the step length and the latest relative position.
In one embodiment, the acquiring the reference relative position and the reference point feasibility trajectory of the at least two reference points comprises:
Obtaining the moving relative positions corresponding to the two moving points from the relative moving tracks corresponding to the target object;
determining a relationship between the two moving points and the current point based on the two moving relative positions and the current relative position;
and under the condition that the two moving points and the current point are not on the same straight line, determining the two moving points as reference points, and acquiring a reference relative position and a reference point feasibility track corresponding to the reference points.
In one embodiment, the moving the reference point feasibility track based on the relative offset, and obtaining the offset feasibility track includes:
acquiring a second relative distance and a reference base station position corresponding to the reference point feasibility track;
moving the reference base station position based on the relative offset to obtain an offset base station position;
and taking the offset base station position as a circle center and the second relative distance as a radius to obtain the offset feasibility track of the reference point.
In one embodiment, said moving the reference base station position based on the relative offset, obtaining an offset base station position includes:
subtracting the relative offset from the reference base station position to obtain an offset base station position when the relative offset is the reference relative position minus the current relative position;
And adding the relative offset to the reference base station position to obtain an offset base station position under the condition that the relative offset is the current relative position minus the reference relative position.
In one embodiment, the method further comprises:
determining a reference point location of the reference point based on the location of the current point and a relative offset between the reference point and the current point;
and obtaining a target moving track based on the position of the current point and the position of the reference point.
In a second aspect, the application further provides a positioning device. The device comprises:
the acquisition module is used for acquiring the current relative position of the current point and the feasibility track of the current point and acquiring the reference relative position of at least two reference points and the feasibility track of the reference points; the current relative position and the reference relative position are different;
a determining module for determining, for each of the reference points, a relative offset between the reference point and the current point based on the reference relative position and the current relative position;
the offset module is used for moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track;
And the positioning module is used for determining the intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point.
In a third aspect, the present application also provides a communication device comprising a memory storing a computer program and a processor implementing the steps of the method of any of the first aspects when the computer program is executed by the processor.
In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects.
In a fifth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects.
According to the positioning method, the device, the communication equipment and the storage medium, under the condition that the terminal can only receive broadcast information of one or two Bluetooth base stations, the terminal cannot use the Bluetooth RSSI positioning method to perform positioning, at the moment, the terminal determines the current relative position of the current point and the feasibility track of the current point based on the received broadcast information, then obtains the reference relative positions of at least two reference points from the moving relative track and the feasibility track of the reference points corresponding to the at least two reference points, the reference relative positions of the at least two reference points and the feasibility track of the reference points are historical data determined by a target object in the moving process, namely, when the terminal can only receive broadcast information of one or two Bluetooth base stations, the reference relative positions of the reference points and the feasibility track of the reference points can be obtained from the historical data, enough basic data is provided for accurate positioning, relative offset between the reference points and the current point is determined based on the relative offset between the reference points and the reference points, the feasibility track of the reference points is moved based on the relative offset, the feasibility track of the current point and the feasibility track of the reference points is determined, and the feasibility track of the current point is the intersection point is determined, and the feasibility of the two points is determined to be the intersection point of the current point or the two points is accurately positioned, and the accuracy of the current position of the Bluetooth base station is accurately positioned is achieved.
Drawings
FIG. 1 is an application scenario diagram of a positioning method in one embodiment;
FIG. 2 is a flow chart of a positioning method in one embodiment;
FIG. 3 is a schematic diagram of a current point and a reference point in one embodiment;
FIG. 4 is a flow chart of a current point feasibility trajectory determination step in one embodiment;
FIG. 5 is a flow chart illustrating the current relative position determination step in one embodiment;
FIG. 6 is a flow chart of a reference point determination step in one embodiment;
FIG. 7 is a block diagram of a positioning device in one embodiment;
fig. 8 is an internal structural diagram of a communication device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The positioning method provided by the embodiment of the application can be applied to an application environment shown in figure 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. Both the terminal and the server can be used separately to execute the positioning method provided in the embodiment of the application. The terminal and the server may also cooperate to perform the positioning method provided in the embodiments of the present application. For example, the terminal acquires a current relative position and a current point feasibility track of a current point, acquires a reference relative position and a reference point feasibility track of at least two reference points, wherein the current relative position and the reference relative position are different, determines relative offset between the reference point and the current point based on the reference relative position and the current relative position for each reference point, moves the reference point feasibility track based on the relative offset to obtain an offset feasibility track, determines an intersection point of the current point feasibility track and the at least two offset feasibility tracks, and determines the position of the intersection point as the position of the current point. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smartphones, tablet computers, internet of things devices, and portable wearable devices, which may be smart watches, smart bracelets, headsets, tablets, helmets, etc., the terminal 102 supports bluetooth positioning, and includes IMU (Inertial Measurement Unit ) sensors. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In one embodiment, as shown in fig. 2, a positioning method is provided, which is illustrated as applied to a terminal, and includes steps 202 to 208.
Step 202, acquiring a current relative position of a current point and a current point feasibility track, and acquiring reference relative positions of at least two reference points and reference point feasibility tracks; the current relative position and the reference relative position are not identical.
The current point refers to the current position of the target object, and the current point is represented by the current relative position. The current relative position refers to the relative coordinates of the current position of the target object determined by using a PDR (Pedestrian Dead Reckoning ) method, and it can be understood that, during the movement of the target object, the PDR method is used to locate a plurality of points through which the target object passes, where the location information of the first point is (t) 1 ,0,0)，t 1 Indicating the time for locating the first point, (0, 0) indicating the location of the first point, the location of the second point being based on the location (0, 0) of the first point, the PDR method is usedThe positions obtained by positioning are relative coordinates.
The current point feasibility track refers to a track formed by a target object at a possible position of a current point, and it can be understood that the target object wears the terminal, when the target object reaches the current point, the terminal receives broadcast information of the target bluetooth base station, and determines a first relative distance between the target object and the target bluetooth base station according to the current received signal strength of the broadcast information. The reference point refers to a position where the target object passes, and the reference point can be obtained from a relative movement track. Reference point feasibility trajectories refer to trajectories formed by the possible existence of a position of a target object at a reference point. For example, as shown in fig. 3, 302 is a target bluetooth base station, 312 is a current point, 322 is a current point feasibility track, 304 is a reference bluetooth base station 1, 314 is a reference point 1, 324 is a reference point feasibility track 1, 306 is a reference bluetooth base station 2, 316 is a reference point 2, 326 is a reference point feasibility track 2.
When the target object moves to the current point, under the condition that the terminal can only receive the broadcast information of one target bluetooth base station, the terminal obtains the current relative position of the current point, the terminal determines the current received signal strength when receiving the broadcast information, obtains the target base station position corresponding to the target bluetooth base station based on the target base station identification of the target bluetooth base station in the broadcast information, determines the current point feasibility track based on the current received signal strength and the target base station position, then obtains the relative displacement track, obtains the reference relative positions of at least two reference points from the relative displacement track, and then obtains the reference point feasibility track corresponding to the at least two reference points.
In one embodiment, the terminal obtains a relative displacement track, obtains reference relative positions of at least two reference points from the relative displacement track, obtains a second relative distance and a reference base station position corresponding to the reference time for each reference time based on the reference time corresponding to the at least two reference points, and determines a reference point feasibility track of the reference point corresponding to the reference time based on the second relative distance and the reference base station position.
Step 204, for each reference point, determining a relative offset between the reference point and the current point based on the reference relative position and the current relative position.
Wherein, the relative offset refers to the offset between the reference relative position and the current relative position. For example, the reference relative position of the reference point is (x 1 ,y 1 ) The current relative position of the current point is (x 2 ,y 2 ) The relative offset between the reference point and the current point may be (x 1 -x 2 ,y 1 -y 2 ) Or is (x) 2 -x 1 ,y 2 -y 1 )。
For each reference point, the terminal calculates a difference between a reference relative position of the reference point and a current relative position to obtain a relative offset between the reference point and the current point.
Step 206, moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track.
The offset feasibility track refers to a track obtained by moving the reference point feasibility track. For example, as shown in fig. 3, 334 is the offset feasibility trace 1, which is obtained after the movement of 324 reference point feasibility trace 1 corresponding to 314 reference point 1, 336 is the offset feasibility trace 2, which is obtained after the movement of 326 reference point feasibility trace 2 corresponding to 316 reference point 2.
For example, for the reference point feasibility track corresponding to each reference point, the terminal translates the reference point feasibility track corresponding to the reference point based on the relative offset between the reference point and the current point, so as to obtain the offset feasibility track corresponding to the reference point.
Step 208, determining an intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point.
The intersection point refers to a point where the current point feasibility track and at least two offset feasibility tracks intersect or are likely to intersect. For example, the terminal calculates an intersection of the current point feasibility track and the at least two offset feasibility tracks using a maximum likelihood estimation method, the intersection not necessarily being a true intersection of the current point feasibility track and the at least two offset feasibility tracks. The position of the current point refers to the actual position of the target object at the current point.
The terminal determines an intersection point of the current point feasibility track and at least two offset feasibility tracks based on a preset intersection point calculation method, and determines the position of the intersection point as the position of the current point.
In this embodiment, under the condition that the terminal can only receive broadcast information of one or two bluetooth base stations, the terminal cannot use a bluetooth RSSI positioning method to perform positioning, at this time, the terminal determines a current relative position of a current point and a current point feasibility track based on the received broadcast information, then obtains reference relative positions of at least two reference points from the moving relative track and the reference point feasibility track corresponding to the at least two reference points, the reference relative positions of the at least two reference points and the reference point feasibility track are historical data determined by a target object in a moving process, namely, when the terminal can only receive broadcast information of one or two bluetooth base stations, the reference relative positions of the reference points and the reference point feasibility track can be obtained from the historical data, enough basic data is provided for accurate positioning, for each reference point, relative offset between the reference point and the current point is determined based on the reference relative position, the reference point feasibility track is moved based on the relative offset, the current point feasibility track and the reference point feasibility track are obtained, the current point feasibility track and the at least two offset feasibility tracks are determined, and the intersection point is determined under the condition that the current point can only receive broadcast information of one or two bluetooth base stations, thereby the accuracy of positioning of the current position is achieved, and the accuracy of the positioning of the terminal can only be achieved.
In one embodiment, as shown in FIG. 4, obtaining the current relative position of the current point and the current point feasibility track comprises:
step 402, a current relative position of a current point is obtained.
When the target object moves to the current point, the terminal obtains the current pose information of the target object by using the IMU, obtains the step length corresponding to the target object, and determines the current relative position of the current point by using a PDR method.
Step 404, obtaining the current received signal strength corresponding to the current broadcast information; the current broadcast information is transmitted by the target bluetooth base station.
The current broadcast information refers to broadcast information received by the terminal at the current point. The current broadcast information includes, but is not limited to, the target bluetooth base station identification. The received signal strength refers to the received power of the terminal to receive the broadcast information. The Bluetooth base station is a low-power Bluetooth product for night patrol, inspection and indoor navigation.
In an exemplary embodiment, the bluetooth base station broadcasts the broadcast information, and when the target object moves to the current point, the terminal worn by the target object receives the current broadcast information and determines the current received signal strength corresponding to the current broadcast information.
Step 406, determining a first relative distance between the current point and the target bluetooth base station based on the current received signal strength.
The first relative distance refers to a linear distance between the current point and the target Bluetooth base station. For example, R1 as shown in FIG. 3.
Illustratively, the terminal determines a first relative distance between the current point and the target bluetooth base station based on the current received signal strength.
In one embodiment, the terminal calculates the first relative distance using the following formula:
d=10 ((abs (RSSI) -a)/(10 n)) equation (1)
Wherein d is a first relative distance, RSSI is a current received signal strength (negative value), abs (RSSI) is an absolute value of the current received signal strength, A is a signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is an environmental attenuation factor.
In step 408, the current point feasibility track of the current point is determined by taking the base station position of the target bluetooth base station as the center and taking the first relative distance as the radius.
The terminal obtains the base station position of the target bluetooth base station corresponding to the target bluetooth base station identifier based on the target bluetooth base station identifier in the current broadcast information, and then determines the generated circle as the current point feasibility track of the current point by taking the base station position of the target bluetooth base station as the center and taking the first relative distance as the radius.
In this embodiment, a first relative distance between a current point and a target bluetooth base station is determined according to a current received signal strength of current broadcast information, a base station position of the target bluetooth base station is obtained according to a target bluetooth base station identifier in the current broadcast information, a current point feasibility track is determined according to the first relative distance and the base station position of the target bluetooth base station, the current point feasibility track represents a track formed by a possible position of a target object at the current point, and accurate basic data is provided for subsequent positioning of the target object.
In one embodiment, as shown in FIG. 5, obtaining the current relative position of the current point includes:
step 502, obtaining the step length of the target object and the current pose information of the target object moving to the current point.
The step length refers to the length of one step of moving the target object, and the step length can be stored in association with the object identification. The current pose information refers to the direction of the target object in the process of moving to the current point, and the current pose information can be represented by quaternion.
The terminal obtains the step length of the target object, and the terminal obtains the current pose information through the IMU.
Step 504, a relative movement track corresponding to the target object is obtained, and the latest relative position corresponding to the latest moment is obtained from the relative movement track.
Wherein the relative movement track refers to a movement track of a target object composed of positioning information of a plurality of points, and the relative movement track can be expressed as { (t) 1 ,0,0),……,(t n ,x n ,y n ) }. The latest time refers to the relativeThe last moment in the movement trajectory. The latest relative position refers to the relative position corresponding to the last moment in the relative movement track. For example, the relative movement locus is { (t) 1 ,0,0),……,(t 10 ,x 10 ,y 10 ) T is }, then 10 Is the latest time, (x) 10 ,y 10 ) Is the latest relative position.
The terminal obtains the relative movement track, and obtains the latest relative position corresponding to the latest moment from the relative movement track.
Step 506, determining the current relative position of the current point based on the current pose information, the step size and the latest relative position.
Illustratively, the terminal determines the current relative position of the current point using a PDR method based on the current pose information, the step size, and the latest relative position.
In this embodiment, the terminal obtains the current pose information of the target object moving to the current point by using the IMU, obtains the relative movement track before the target object moves to the current point, and determines the current relative position of the current point based on the latest relative position, the current pose information and the step length in the relative movement track, thereby improving the accuracy of the current relative position.
In one embodiment, as shown in fig. 6, acquiring the reference relative positions and reference point feasibility trajectories for the at least two reference points includes:
step 602, obtaining the movement relative positions corresponding to the two movement points from the relative movement tracks corresponding to the target object.
The moving point is a point in the relative movement track, and it can be understood that (t) n ,x n ,y n ) For the positioning information of the nth point, (x) n ,y n ) Is the relative position of the movement of the nth point.
The terminal obtains the movement relative positions corresponding to the two movement points from the relative movement track based on a preset point taking method. The preset point taking method can be used for obtaining the moving relative positions corresponding to the two latest moments, or can be used for randomly obtaining the moving relative positions corresponding to the two moments, and can be set according to actual requirements.
Step 604, determining a relationship between the two moving points and the current point based on the two moving relative positions and the current relative position.
The relationship between the two moving points and the current point refers to whether the two moving points and the current point are on the same straight line. The relationship may be a relationship on a straight line or a relationship that is not on a straight line.
The terminal determines whether the two moving points and the current point are on a straight line based on the two moving relative positions and the current relative position.
In one embodiment, the terminal calculates a first slope between one of the mobile relative positions and the current relative position, and a second slope between the other mobile relative position and the current relative position; if the first slope is not equal to the second slope, determining that the two moving points and the current point are not on the same straight line; if the first slope is equal to the second slope, it is determined that the two moving points and the current point are on a straight line.
In step 606, in the case that the two moving points and the current point are not on the same straight line, the two moving points are determined as reference points, and the reference relative positions and the reference point feasibility tracks corresponding to the reference points are obtained.
In an exemplary case where the two moving points and the current point are not on the same straight line, the two moving points are determined as reference points, and a reference relative position and a reference point feasibility track corresponding to the reference points are acquired.
In this embodiment, by determining whether the two moving points and the current point are on a straight line, and determining the two moving points as the reference points when the two moving points and the current point are not on a straight line, the situation that the offset feasibility track obtained after moving the feasibility track of the reference point coincides with the feasibility track of the current point and the intersection point of the feasibility track of the current point and the feasibility track of the two offset points cannot be determined is avoided, so that the positioning accuracy is improved.
In one embodiment, moving the reference point feasibility track based on the relative offset, the deriving the offset feasibility track comprises:
acquiring a second relative distance and a reference base station position corresponding to the feasibility track of the reference point; moving the reference base station position based on the relative offset to obtain an offset base station position; and taking the position of the offset base station as a circle center and taking the second relative distance as a radius to obtain an offset feasibility track of the reference point.
Wherein the second relative distance refers to a straight line distance between the reference point and the reference bluetooth base station. For example, R2 and R3 are as shown in FIG. 3. The radius of the feasible track of the reference point is the second relative distance. The reference base station location refers to the location of the bluetooth base station transmitting the broadcast information received by the target object at the reference point. The circle center position of the reference point feasibility track is the reference base station position. The offset base station position refers to a position obtained by translating the reference base station position.
The terminal obtains a second relative distance and a reference base station position corresponding to the reference point feasibility track, moves the reference base station position based on the relative offset to obtain an offset base station position, takes the offset base station position as a circle center, takes the second relative distance as a radius, and determines the generated circle as the offset feasibility track of the reference point.
In this embodiment, by moving the reference point feasibility track, an offset feasibility track is obtained, where the offset feasibility track is equivalent to a current point feasibility track corresponding to another at least two pieces of current broadcast information received by the terminal at the current point, and sufficient basic data is provided for realizing positioning.
In one embodiment, moving the reference base station position based on the relative offset, the obtaining the offset base station position comprises:
subtracting the relative offset from the reference base station position to obtain an offset base station position under the condition that the relative offset is the reference relative position minus the current relative position; and in the case that the relative offset is the current relative position minus the reference relative position, adding the relative offset to the reference base station position to obtain an offset base station position.
Illustratively, if the relative offset in step 204 is equal to the reference relative position minus the current relative position, the offset base station position is equal to the reference base station position minus the relative offset; if the relative offset in step 204 is equal to the current relative position minus the reference relative position, the offset base station position is equal to the reference base station position plus the relative offset.
In this embodiment, the calculation method for determining the position of the offset base station based on the calculation method of the relative offset improves the accuracy of determining the displacement of the offset base station.
In one embodiment, the positioning method further comprises:
determining a reference point location of the reference point based on the location of the current point and the relative offset between the reference point and the current point; and obtaining a target moving track based on the position of the current point and the position of the reference point.
The reference point position refers to the actual position of the target object at the reference point. The target movement track refers to the real movement track of the target object.
The terminal determines a reference point position of the reference point based on the position of the current point and the relative offset between the reference point and the current point, and then obtains a target movement track based on the position of the current point and each reference point position.
In this embodiment, the reference point position of the reference point is determined by the position of the current point and the relative offset between the reference point and the current point, so that the target movement track of the target object can be obtained according to the position of the current point and the reference point position.
In an exemplary embodiment, a plurality of bluetooth base stations are deployed indoors, a target object wearing terminal moves indoors, if the target object wearing terminal can receive at least three broadcast messages at a current point, a transmitting bluetooth base station of the received broadcast messages is determined to be a target bluetooth base station, a target base station position of the target bluetooth base station is obtained based on a target base station identifier of the target bluetooth base station in the broadcast messages, a relative distance between a target object and the target bluetooth base station is determined based on a received message strength corresponding to the broadcast messages by using a formula (1), a feasibility track corresponding to the target object is generated by using the target base station position of the target bluetooth base station as a center and the relative distance between the target bluetooth base station and the target object as a radius for each target bluetooth base station, intersections of the three feasibility tracks are calculated by using maximum likelihood estimation, and the positions of the intersections are determined to be the positions of the target object, so that the target object is positioned.
Under the condition that the Bluetooth base station deployment is relatively few, the target object wearing terminal moves indoors, and when the terminal worn by the target object cannot receive at least three broadcast messages at the current point, the following positioning method is adopted to position the target object:
the terminal comprises an IMU sensor, the terminal uses the IMU sensor to determine pose information of the target object in the moving process, the terminal uses a PDR method to determine relative coordinates of each moving point of the target object in the moving process based on the position information, and obtains a relative moving track based on the corresponding moment and relative coordinates of each moving point, wherein the terminal continuously updates the relative moving track in the moving process of the target object.
Meanwhile, in the moving process of the target object, the terminal worn by the target object receives broadcast information of the Bluetooth base station at each moving point, determines a first relative distance between the moving point and the target Bluetooth base station according to the received signal intensity of the broadcast information, obtains the target base station position of the target Bluetooth base station based on the target base station identification of the target Bluetooth base station in the broadcast information, takes the target base station position of the target Bluetooth base station as a circle center and takes the first relative distance between the target Bluetooth base station and the target object as a radius, and generates a moving point feasibility track corresponding to the moving point.
When a terminal needs to locate a target object, determining the position reached by the target object at the moment as a current point, acquiring current pose information of the target object by using an IMU (inertial measurement unit), acquiring a step length corresponding to the target object, determining the current relative position of the current point by using a PDR (potential data set) method, receiving current broadcast information by using a terminal worn by the target object, determining the current received signal strength corresponding to the current broadcast information, determining a first relative distance between the current point and a target Bluetooth base station by using a formula (1) based on the current received signal strength, acquiring the base station position of the target Bluetooth base station corresponding to the target Bluetooth base station identifier based on a target Bluetooth base station identifier in the current broadcast information, and then determining a generated circle as a current point feasibility track of the current point by taking the first relative distance as a radius by taking the base station position of the target Bluetooth base station as a center.
The terminal obtains the moving relative positions corresponding to the two moving points from the relative moving track based on a preset point taking method, determines whether the two moving points and the current point are on the same straight line based on the two moving relative positions and the current relative position, and determines the two moving points as reference points under the condition that the two moving points and the current point are not on the same straight line, and obtains the reference relative positions corresponding to the reference points and the reference point feasibility track.
The terminal obtains a second relative distance and a reference base station position corresponding to the reference point feasibility track, subtracts the current relative position from the reference relative position for each reference point to obtain relative offset, subtracts the relative offset from the reference base station position to obtain offset base station position, takes the offset base station position as a circle center, takes the second relative distance as a radius, and determines the generated circle as the offset feasibility track of the reference point.
The terminal determines an intersection point of a current point feasibility track and two offset feasibility tracks based on a preset intersection point calculation method, determines the position of the intersection point as the position of the current point, determines the reference point position of the reference point based on the position of the current point and the relative offset between the reference point and the current point, and then obtains the target movement track of the target object based on the position of the current point and the positions of all the reference points.
In this embodiment, under the condition that the terminal can only receive broadcast information of one or two bluetooth base stations, the terminal cannot use a bluetooth RSSI positioning method to perform positioning, at this time, the terminal determines a current relative position of a current point and a current point feasibility track based on the received broadcast information, then obtains reference relative positions of at least two reference points from the moving relative track and the reference point feasibility track corresponding to the at least two reference points, the reference relative positions of the at least two reference points and the reference point feasibility track are historical data determined by a target object in a moving process, namely, when the terminal can only receive broadcast information of one or two bluetooth base stations, the reference relative positions of the reference points and the reference point feasibility track can be obtained from the historical data, enough basic data is provided for accurate positioning, for each reference point, relative offset between the reference point and the current point is determined based on the reference relative position, the reference point feasibility track is moved based on the relative offset, the current point feasibility track and the reference point feasibility track are obtained, the current point feasibility track and the at least two offset feasibility tracks are determined, and the intersection point is determined under the condition that the current point can only receive broadcast information of one or two bluetooth base stations, thereby the accuracy of positioning of the current position is achieved, and the accuracy of the positioning of the terminal can only be achieved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a positioning device for realizing the positioning method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in one or more embodiments of the positioning device provided below may be referred to above for limitations of the positioning method, which are not repeated here.
In one embodiment, as shown in fig. 7, there is provided a positioning device comprising: an acquisition module 702, a determination module 704, an offset module 706, and a positioning module 708, wherein:
an obtaining module 702, configured to obtain a current relative position of a current point and a current point feasibility track, and obtain a reference relative position of at least two reference points and a reference point feasibility track; the current relative position and the reference relative position are not identical.
A determining module 704 is configured to determine, for each reference point, a relative offset between the reference point and the current point based on the reference relative position and the current relative position.
The offset module 706 is configured to move the reference point feasibility track based on the relative offset, to obtain an offset feasibility track.
A positioning module 708, configured to determine an intersection point of the current point feasibility track and the at least two offset feasibility tracks, and determine a position of the intersection point as a position of the current point.
In one embodiment, the acquisition module 702 is further configured to: acquiring the current relative position of the current point; acquiring the current received signal strength corresponding to the current broadcast information; the current broadcast information is sent by a target Bluetooth base station; determining a first relative distance between the current point and the target Bluetooth base station based on the current received signal strength; and determining the current point feasibility track of the current point by taking the base station position of the target Bluetooth base station as a center and taking the first relative distance as a radius.
In one embodiment, the acquisition module 702 is further configured to: acquiring the step length of a target object and the current pose information of the target object moving to a current point; acquiring a relative movement track corresponding to the target object, and acquiring a latest relative position corresponding to the latest moment from the relative movement track; based on the current pose information, the step size and the latest relative position, the current relative position of the current point is determined.
In one embodiment, the acquisition module 702 is further configured to: obtaining the moving relative positions corresponding to the two moving points from the relative moving tracks corresponding to the target object; determining a relationship between the two moving points and the current point based on the two moving relative positions and the current relative position; and under the condition that the two moving points and the current point are not on the same straight line, determining the two moving points as reference points, and acquiring the reference relative position and the reference point feasibility track corresponding to the reference points.
In one embodiment, the offset module 706 is further to: acquiring a second relative distance and a reference base station position corresponding to the feasibility track of the reference point; moving the reference base station position based on the relative offset to obtain an offset base station position; and taking the position of the offset base station as a circle center and taking the second relative distance as a radius to obtain an offset feasibility track of the reference point.
In one embodiment, the offset module 706 is further to: subtracting the relative offset from the reference base station position to obtain an offset base station position under the condition that the relative offset is the reference relative position minus the current relative position; and in the case that the relative offset is the current relative position minus the reference relative position, adding the relative offset to the reference base station position to obtain an offset base station position.
In one embodiment, the positioning device further comprises a track generation module for: determining a reference point location of the reference point based on the location of the current point and the relative offset between the reference point and the current point; and obtaining a target moving track based on the position of the current point and the position of the reference point.
The various modules in the positioning device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a communication device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 8. The communication device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the communication device is configured to provide computing and control capabilities. The memory of the communication device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the communication device is used to exchange information between the processor and the external device. The communication interface of the communication device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a positioning method. The display unit of the communication device is used for forming a visually visible picture and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the communication equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the communication equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A method of positioning, the method comprising:
acquiring a current relative position of a current point and a current point feasibility track, and acquiring reference relative positions of at least two reference points and a reference point feasibility track; the current relative position and the reference relative position are different;
determining, for each of the reference points, a relative offset between the reference point and the current point based on the reference relative position and the current relative position;
Moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track;
and determining an intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point.
2. The method of claim 1, wherein the obtaining the current relative position of the current point and the current point feasibility track comprises:
acquiring the current relative position of the current point;
acquiring the current received signal strength corresponding to the current broadcast information; the current broadcast information is sent by a target Bluetooth base station;
determining a first relative distance between the current point and the target Bluetooth base station based on the current received signal strength;
and determining the current point feasibility track of the current point by taking the base station position of the target Bluetooth base station as a center and the first relative distance as a radius.
3. The method of claim 2, wherein the obtaining the current relative position of the current point comprises:
acquiring the step length of a target object and the current pose information of the current point;
acquiring a relative movement track corresponding to the target object, and acquiring a latest relative position corresponding to the latest moment from the relative movement track;
And determining the current relative position of the current point based on the current pose information, the step length and the latest relative position.
4. The method of claim 1, wherein the obtaining the reference relative position and reference point feasibility trajectory for the at least two reference points comprises:
obtaining the moving relative positions corresponding to the two moving points from the relative moving tracks corresponding to the target object;
determining a relationship between the two moving points and the current point based on the two moving relative positions and the current relative position;
and under the condition that the two moving points and the current point are not on the same straight line, determining the two moving points as reference points, and acquiring a reference relative position and a reference point feasibility track corresponding to the reference points.
5. The method of claim 1, wherein moving the reference point feasibility trace based on the relative offset comprises:
acquiring a second relative distance and a reference base station position corresponding to the reference point feasibility track;
moving the reference base station position based on the relative offset to obtain an offset base station position;
And taking the offset base station position as a circle center and the second relative distance as a radius to obtain the offset feasibility track of the reference point.
6. The method of claim 5, wherein said moving the reference base station position based on the relative offset comprises:
subtracting the relative offset from the reference base station position to obtain an offset base station position when the relative offset is the reference relative position minus the current relative position;
and adding the relative offset to the reference base station position to obtain an offset base station position under the condition that the relative offset is the current relative position minus the reference relative position.
7. The method according to claim 1, wherein the method further comprises:
determining a reference point location of the reference point based on the location of the current point and a relative offset between the reference point and the current point;
and obtaining a target moving track based on the position of the current point and the position of the reference point.
8. A positioning device, the device comprising:
the acquisition module is used for acquiring the current relative position of the current point and the feasibility track of the current point and acquiring the reference relative position of at least two reference points and the feasibility track of the reference points; the current relative position and the reference relative position are different;
A determining module for determining, for each of the reference points, a relative offset between the reference point and the current point based on the reference relative position and the current relative position;
the offset module is used for moving the reference point feasibility track based on the relative offset to obtain an offset feasibility track;
and the positioning module is used for determining the intersection point of the current point feasibility track and at least two offset feasibility tracks, and determining the position of the intersection point as the position of the current point.
9. A communication device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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