CN117202153A - Positioning method of door control lamp box - Google Patents
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Abstract
The invention relates to the technical field of positioning, in particular to a positioning method of an access control lamp box. The invention provides a high-precision positioning method of an access control lamp box. And constructing a Bluetooth ad hoc network by carrying out matching connection on access control ends in a preset range. And the cloud server guides the mobile terminal to move towards the target access control terminal by using the GPS technology. When the mobile terminal enters the Bluetooth communication range of the first access control end, connection is established with the Bluetooth ad hoc network. The first access control terminal captures and uploads the azimuth information of the mobile terminal and the target access control terminal to the cloud server for further data processing. The cloud server updates and processes the position data of the mobile terminal in real time, meanwhile, collects navigation behaviors of the mobile terminal, and performs user feedback behavior modeling by adopting a model learning technology based on the accumulated navigation behavior data. And then, the cloud server sends error correction data to the mobile terminal, so that GPS navigation is optimized, and the mobile terminal is ensured to be guided to a target access control end accurately.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning method of an access control lamp box.
Background
A large number of access control devices are often installed in communities, including residential gates, building gates, unit gates, underground garage gates, and the like. When engineering and operators need to maintain equipment or replace the paintings on the entrance guard lamp box, because the district is too large or the environment is complex, for example, when in an underground garage, the equipment of the target is difficult to quickly find.
Conventional positioning techniques often aid a user in navigating through a GPS, but the GPS needs to receive multiple satellite signals to determine a position, but positioning accuracy is poor in an indoor environment or in a place where satellite signals are of poor quality.
Bluetooth AoA (Angle of Arrival) technology is a technology for determining the location of bluetooth devices. The location of the transmitting device is determined by measuring the angle of incidence of the bluetooth signal from the transmitting device to the receiving device. Bluetooth AoA technology determines the location of a transmitting device by determining the angle of incidence of a signal using a plurality of receive antennas. Bluetooth AoA technology has the disadvantage of limited range and is typically only used in environments with small distances.
Disclosure of Invention
In order to solve the problems, the invention provides a positioning method of an access control lamp box.
In order to achieve the above purpose, the technical scheme of the present invention is as follows:
a positioning method of an access control lamp box comprises the following steps:
matching connection is carried out on all access control ends within a preset range, and a Bluetooth ad hoc network is constructed;
the cloud server guides the mobile terminal to move to the target access control end through the GPS, and when the mobile terminal enters the Bluetooth communication range of the first access control end, the mobile terminal is connected with the Bluetooth ad hoc network;
the method comprises the steps that a first access control end obtains azimuth information of a mobile terminal and azimuth information of a target access control end, the azimuth information of the mobile terminal and the azimuth information of the target access control end are uploaded to a cloud server for data processing, and the cloud server updates a calculation result of movement of the mobile terminal in real time and collects navigation behaviors;
and the cloud server performs user feedback behavior modeling according to the navigation behaviors of the past times, collects error correction data from the mobile terminal, and optimizes the moving path of the GPS guiding mobile terminal to the target access control terminal.
Further, the first access control end obtains the azimuth information of the mobile terminal and the azimuth information of the target access control end specifically includes:
the first access control end captures the angle and the distance of the mobile terminal relative to the first access control end by using AoA and RSSI, obtains the distance coordinate of the mobile terminal by taking the first access control end as an origin and taking the north as the positive direction, and sends the distance coordinate to the cloud server;
the first access control end obtains the distance coordinate of the target access control end through the Bluetooth ad hoc network by taking the first access control end as an origin through the Bluetooth ad hoc network and sends the distance coordinate to the cloud server.
Further, the calculation result includes the distance between the mobile terminal and the target access control end and the direction data of the target access control end, and the direction data of the target access control end is determined by taking the mobile terminal as an origin and taking the north as a positive direction.
Further, the distance D between the mobile terminal and the target access control terminal is calculated by adopting the following formula:
，
in the above formula, D represents the distance between the mobile terminal and the target entrance guard terminal,representing the degree of an included angle formed by the first access control end and the mobile terminal in the positive north direction, d representing the distance between the mobile terminal and the first access control end, and +_a>Represents the abscissa of the first access terminal, < >>Represents the ordinate of the first access terminal, < ->Represents the abscissa of the target access terminal, +.>And the ordinate of the target entrance guard end is indicated.
Further, the method for calculating the direction data of the target access terminal comprises the following steps: the cloud server calculates the direction data of the target access control end through the distance coordinates of the mobile terminal and the distance coordinates of the target access control end, and the cloud server sends the calculation result to the mobile terminal in real time.
Further, the connection between the mobile terminal and the bluetooth ad hoc network specifically includes:
when the mobile terminal enters the range of the first access control end and can only receive the Bluetooth signal of the first access control end, the mobile terminal establishes connection with the first access control end;
when the mobile terminal enters the range of the first access control terminal and can receive Bluetooth signals of a plurality of access control terminals, the mobile terminal compares the strength of the Bluetooth signals of the access control terminals and establishes connection.
Further, the navigation behavior includes a walking path, a time difference of arrival, and weather conditions.
Further, the modeling of the user feedback behavior by the cloud server according to the navigation behavior in the past is specifically:
converting different weather conditions into numerical values through coding;
representing the difference between the estimated arrival time and the actual arrival time by means of a continuous numerical feature;
and calculating the walking path of the user through the continuous Bluetooth connection log.
Further, the cloud server performs user feedback behavior modeling according to the navigation behaviors in the past to adopt a linear regression model, and the linear regression model is as follows:
，
where y represents the navigation error in the above,indicating weather conditions->Representing time of arrival deviation>Indicates walking path, ++>Represents the intercept (I)>Indicating the influence of weather conditions on the predictions, +.>Representing the influence of the time-of-arrival deviation on the prediction, +.>Representing the influence of the walking path on the prediction, +.>Representing the error term.
The invention has the beneficial effects that: according to the invention, bluetooth connection is established between the access control devices of the community or the community, so that a Bluetooth ad hoc network is formed, and mutual communication and data sharing between the devices are realized. When a mobile terminal needs to locate a certain access control, a GPS is firstly utilized for large-scale navigation. As the mobile terminal gets closer to the target, it will automatically connect to the bluetooth ad hoc network. The access control equipment can acquire azimuth information of the mobile terminal and the target access control, and the azimuth information is uploaded to the cloud server in real time for analysis and processing. The cloud server updates and processes the position data of the mobile terminal in real time, and meanwhile collects navigation behaviors of the mobile terminal, and based on the accumulated navigation behavior data, the cloud server carries out user feedback behavior modeling by adopting a model learning technology. The cloud server can send error correction data to the mobile terminal, so that GPS navigation is optimized, and the mobile terminal can be guided to a target access control end accurately.
Drawings
Fig. 1 is a flow chart of steps of a positioning method of an entrance guard lamp box in the invention.
Fig. 2 is a flowchart of specific steps of S2.
Fig. 3 is a flowchart of specific steps of S3.
Detailed Description
Referring to fig. 1-3, the invention relates to a positioning method of an entrance guard lamp box, which comprises the following steps:
s1, carrying out matching connection on other access control ends in a preset range to construct a Bluetooth ad hoc network;
specifically, in a community or community environment, each access control device is provided with a bluetooth module with low power consumption, such as a bluetooth module with a version of 5.0 or higher, and has an AoA positioning technology. When these devices are installed and initialized, each bluetooth module broadcasts a unique bluetooth device address, which may be provided by the manufacturer or may be user-defined. The matching connection between the devices is performed in an automatic mode. When one access device starts and broadcasts its bluetooth address, other access devices within the preset range around will capture this broadcast signal. If the device has not established a connection with the device that captured the signal, an attempt may be made to connect. After successful connection, the device is brought within range of the bluetooth ad hoc network and maintains the stability of the network in conjunction with devices already in the network before.
In order to ensure the stability of the Bluetooth ad hoc network, the devices can be verified through a handshake protocol, and the legality and the safety of connection are ensured. Each time a new device attempts to join the network, an authentication process is triggered to ensure that it is a legitimate device.
Each access control device is provided with an own internal algorithm, when a plurality of Bluetooth signals are captured, the devices evaluate the strength of the signals, and the connection with which device is selected according to the strength and stability of the signals, so that the continuity and stability of the whole network can be ensured.
In order to cope with unexpected situations such as equipment faults or network interruption, heartbeat packets are sent between the access control equipment at regular intervals so as to confirm the connection state. If a certain device does not send a heartbeat packet within a preset time, the device is considered to be offline, and the network automatically adjusts to ensure that other devices still remain connected.
Through the steps, the access control equipment of the whole community or community forms a stable Bluetooth ad hoc network, and stable connection and accurate positioning can be provided for the mobile terminal.
S2, the cloud server guides the mobile terminal to move to a target access control end through a GPS and enter a Bluetooth communication range of a first access control end, and the mobile terminal is connected with the Bluetooth ad hoc network;
s21, preprocessing by a cloud server;
specifically, when a mobile terminal, such as a smart phone or a tablet, sends a navigation request, for example, navigating to a certain access control, the cloud server first obtains the current GPS position of the terminal. The server then uses the pre-stored building map and entrance guard position information to determine the optimal navigation path that guides the user along a series of entrance guard positions.
S22, GPS guiding;
specifically, the cloud server decomposes the generated navigation path into a series of GPS coordinate points, and transmits the GPS coordinate points to the mobile terminal through an application program or other interfaces. After receiving the GPS coordinates, the mobile terminal starts the navigation service to guide the user to move according to a preset path.
In the process, the cloud server continuously monitors the GPS position of the mobile terminal, and ensures that the user advances according to the appointed path. If the user deviates from the path, the server will recalculate the path and update it in real time.
S23, entering a Bluetooth communication range;
specifically, when the mobile terminal approaches the target access terminal and enters the bluetooth communication range, the bluetooth module of the access terminal broadcasts a specific signal. At this point, the mobile terminal will capture this signal and attempt to establish a bluetooth connection with the access terminal.
When the mobile terminal of the user enters the Bluetooth communication range of a certain access control terminal and only detects the Bluetooth signal of one access control terminal, the mobile terminal automatically establishes connection with the access control terminal. This connection is based on RSSI (Received Signal Strength Indicator), i.e. the received bluetooth signal strength indicator. The mobile terminal initiates a connection procedure whenever the signal strength is above a predetermined threshold.
When the mobile terminal enters an area and can detect Bluetooth signals of a plurality of access terminals at the same time, the mobile terminal can collect and record RSSIs of all the detected Bluetooth signals. These RSSI values are then arranged so that the mobile terminal can discern the strongest access terminal. Once the entrance guard end with the strongest signal is identified, the mobile terminal establishes a connection with the entrance guard end.
The strategy ensures that the mobile terminal always establishes connection with the gate inhibition terminal with the strongest signal, thereby reducing the possibility of incorrect connection or connection loss.
S24, connecting a Bluetooth ad hoc network;
specifically, once the mobile terminal establishes an initial connection with a certain access terminal, the mobile terminal is automatically incorporated into the Bluetooth ad hoc network of the area. In the ad hoc network, the mobile terminal can receive signals from other connected access terminals, so that more accurate indoor positioning is performed. The main advantage of this connection mode is that when the GPS signal is blocked inside the building, the mobile terminal can rely on a bluetooth connection with the surrounding access point for accurate position tracking and navigation.
S3, the first access control end acquires the azimuth information of the mobile terminal and the azimuth information of the target access control end, the azimuth information of the mobile terminal and the azimuth information of the target access control end are uploaded to the cloud server for data processing, and the cloud server updates a calculation result of the movement of the mobile terminal in real time and collects navigation behaviors;
s31, the first access control terminal obtains the azimuth information of the mobile terminal and the azimuth information of the target access control terminal, wherein the azimuth information is specifically as follows:
the first access control end captures the angle and the distance of the mobile terminal relative to the first access control end by using AoA and RSSI, obtains the distance coordinate of the mobile terminal by taking the first access control end as an origin and taking the north as the positive direction, and sends the distance coordinate to the cloud server;
the first access control end obtains the distance coordinate of the target access control end through the Bluetooth ad hoc network by taking the first access control end as an origin through the Bluetooth ad hoc network and sends the distance coordinate to the cloud server.
S311, acquiring azimuth information by using AoA and RSSI;
specifically, aoA (Angle of Arrival) refers to the angle at which the wireless signal arrives at the receiver, while RSSI (Received Signal Strength Indicator) refers to the strength of the received wireless signal. The first access control end is internally provided with a high-precision Bluetooth module, and the angle and the distance of the mobile terminal can be obtained by utilizing the AoA and RSSI technologies at the same time. Through the AoA technology, a first access control end captures a Bluetooth signal sent by a mobile terminal and calculates the incident angle of the signal. The incident angle is based on north and is the angle of the mobile terminal relative to the first entrance guard. Through the RSSI technology, the first access control terminal can estimate the distance between the first access control terminal and the mobile terminal. RSSI values are typically exponentially related to distance and therefore require prior calibration in order to more accurately estimate distance. By combining the AoA and RSSI data, the first access control end can obtain the distance coordinate of the mobile terminal on a two-dimensional plane, wherein the coordinate takes the first access control end as an origin and the north as the positive direction.
S312, acquiring azimuth information of a target access terminal through a Bluetooth ad hoc network;
specifically, in the bluetooth ad hoc network, each access control terminal holds distance and direction information with other access control terminals. When the first access control end needs to acquire the position of the target access control end, the first access control end sends a request to the ad hoc network, wherein the request contains the unique identifier of the target access control end. When the request is received by the target access terminal, the target access terminal can reply the distance and direction information of the target access terminal relative to the first access terminal. This information is transmitted through each node in the ad hoc network, ensuring that the data can be successfully transferred to the first access terminal in a complex environment.
S313, uploading the data to a cloud server;
specifically, after the first access control end collects the position information, the distance coordinates of the mobile terminal and the distance coordinates of the target access control end are packaged into a data packet, and the data packet is sent to the cloud server through a communication protocol.
After the cloud server receives the data, subsequent data processing and calculation can be performed, so that more accurate and practical navigation service is provided for the mobile terminal.
S32, carrying out data processing on a cloud server, wherein the cloud server updates a calculation result of the movement of the mobile terminal in real time;
specifically, the calculation result includes a distance between the mobile terminal and the target access control end and direction data of the target access control end, wherein the direction data of the target access control end is determined by taking the mobile terminal as an origin and taking the north as a positive direction.
The cloud server calculates the distance D between the mobile terminal and the target access control end by adopting the following formula:
，
in the above formula, D represents the distance between the mobile terminal and the target entrance guard terminal,representing an included angle degree formed by the first access control end and the mobile terminal by taking north as positive directionD represents the distance between the mobile terminal and the first access terminal,/and d represents the distance between the mobile terminal and the first access terminal>Represents the abscissa of the first access terminal, < >>Represents the ordinate of the first access terminal, < ->Represents the abscissa of the target access terminal, +.>And the ordinate of the target entrance guard end is indicated.
The direction data calculation method of the target access control terminal comprises the following steps: and the cloud server calculates the direction data of the target access control end through the distance coordinate of the mobile terminal and the distance coordinate of the target access control end. And the cloud server packages the calculated distance D and direction data into a data packet. The data packets are sent to the mobile terminal via a communication protocol.
And after receiving the two azimuth information, the cloud server immediately recalculates the distance and the direction between the mobile terminal and the target access control terminal. And then, the cloud server returns the updated calculation result to the mobile terminal in real time, so that the navigation information obtained by the user is always the latest data.
S33, the cloud server collects navigation behaviors;
specifically, the navigation behavior includes walking path, arrival time difference and weather condition, firstly, the cloud server collects a complete bluetooth connection log from the mobile terminal, and the log includes a connection and disconnection time stamp, a unique ID of a connected access terminal and a signal strength (RSSI value). Based on the RSSIs and the timestamps, the distance between the user and the access control terminal can be calculated, and the position of the user is obtained. Then, the walking path of the user can be rebuilt through analysis of the time sequence and the access terminal connection log.
The time of arrival difference is measured by comparing the system predicted time of arrival with the actual time of arrival of the user. When a user initiates navigation, the system predicts the time they need to reach the destination. When a user starts navigation, the cloud server estimates a time when the user is expected to reach a target access control end. When the user actually arrives at the target access control end and establishes Bluetooth connection with the target access control end, the recorded time stamp is the actual arrival time. The estimated arrival time is then subtracted from the actual arrival time to obtain the arrival time difference. For example, if the system finds that most users arrive later than the predicted time, the path recommendation algorithm optimizes and changes paths according to most circumstances.
The weather conditions are connected with an API of a weather service provider, and the cloud server can acquire real-time weather information. Weather conditions, such as clear, cloudy, rainy or heavy rain, may affect the speed of travel and path selection of the user. For example, a user may choose to be indoor or have a blocked path to avoid rain when raining.
S4, the cloud server carries out user feedback behavior modeling according to the navigation behaviors, collects error correction data from the mobile terminal and optimizes the GPS guiding mobile terminal to move towards the target access control end;
s41, the cloud server models user feedback behaviors according to the navigation behaviors in the past;
the method comprises the following steps:
converting different weather conditions into numerical values through coding; in order to use weather conditions as features in the model, we need to convert various weather conditions into numerical values. This conversion is based on One-Hot Encoding (One-Hot Encoding) or Label Encoding (Label Encoding). For example, assume we have the following weather conditions: clear, cloudy, rainy and heavy rain. Using the way the tag codes, these weather conditions can be converted into: clear to 0; cloudiness is 1; 2, raining; stormwater 3.
The difference between the expected arrival time and the actual arrival time is a continuous numerical feature, which may be any positive number (or zero). The value of this difference may vary over a continuous range, for example, it may be 1 minute, 2 minutes, 3.5 minutes, 10 minutes, etc. This difference is directly used as a feature in the model.
The walking path is subdivided into a plurality of small segments through connected Bluetooth log data, and the length and direction information of all the small segments are combined into a vector or matrix to obtain the actual moving track of the user from the starting point to the end point.
The cloud server models user feedback behaviors according to the navigation behaviors in the past, and adopts a linear regression model, wherein the linear regression model is as follows:
，
where y represents the navigation error in the above,indicating weather conditions->Representing time of arrival deviation>Indicates walking path, ++>Represents the intercept (I)>Indicating the influence of weather conditions on the predictions, +.>Representing the influence of the time-of-arrival deviation on the prediction, +.>Representing the influence of the walking path on the prediction, +.>Representing the error term.
The model can predict GPS errors in the environment, and can calibrate or correct the original GPS position data by combining the original GPS data and the prediction errors, thereby improving the accuracy.
S42, the cloud server collects error correction data from the mobile terminal and optimizes the GPS to guide the mobile terminal to move towards the target access control end;
specifically, when the mobile terminal approaches or reaches a predetermined target, the cloud server transmits a data acquisition request to the mobile terminal. If the GPS navigation provides misleading information, the user side can manually correct the actual position through the application program. And the mobile terminal packages the error correction data and sends the error correction data to the cloud server through encryption connection. The cloud server stores the received data and performs preliminary comparison to determine the mode and trend of the GPS error. And the cloud server uses the previous user feedback behavior modeling result and combines new error correction data to update the linear regression model. By modeling, errors that may occur for a GPS under given conditions are predicted and a calibration strategy is determined. And the cloud server generates calibration parameters and suggestions according to the analysis result, and sends the information back to the mobile terminal. After receiving the calibration parameters, the mobile terminal automatically adjusts GPS data or provides corrected navigation advice to the user. The cloud server continuously monitors error correction data collected from each mobile terminal and the optimization effect performed thereon. If a new error mode or trend is found, the server updates the model and the calibration strategy again, so that the optimization of the next GPS navigation is realized.
The above embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (9)
1. The positioning method of the door control lamp box is characterized by comprising the following steps of:
matching connection is carried out on all access control ends within a preset range, and a Bluetooth ad hoc network is constructed;
the cloud server guides the mobile terminal to move to the target access control end through the GPS, and when the mobile terminal enters the Bluetooth communication range of the first access control end, the mobile terminal is connected with the Bluetooth ad hoc network;
the method comprises the steps that a first access control end obtains azimuth information of a mobile terminal and azimuth information of a target access control end, the azimuth information of the mobile terminal and the azimuth information of the target access control end are uploaded to a cloud server for data processing, and the cloud server updates a calculation result of movement of the mobile terminal in real time and collects navigation behaviors;
and the cloud server performs user feedback behavior modeling according to the navigation behaviors of the past times, collects error correction data from the mobile terminal, and optimizes the moving path of the GPS guiding mobile terminal to the target access control terminal.
2. The positioning method of an access light box according to claim 1, wherein the first access control terminal obtains azimuth information of a mobile terminal and azimuth information of the target access control terminal specifically includes:
the first access control end captures the angle and the distance of the mobile terminal relative to the first access control end by using AoA and RSSI, obtains the distance coordinate of the mobile terminal by taking the first access control end as an origin and taking the north as the positive direction, and sends the distance coordinate to the cloud server;
the first access control end obtains the distance coordinate of the target access control end through the Bluetooth ad hoc network by taking the first access control end as an origin through the Bluetooth ad hoc network and sends the distance coordinate to the cloud server.
3. The positioning method of an entrance guard lamp box according to claim 1, wherein the calculation result includes a distance between the mobile terminal and the target entrance guard end and direction data of the target entrance guard end, and the direction data of the target entrance guard end is determined by using the mobile terminal as an origin and using north as a positive direction.
4. The method for positioning an access light box according to claim 3, wherein the distance D between the mobile terminal and the target access terminal is calculated by the following formula:
，
in the above formula, D represents the distance between the mobile terminal and the target access control terminal,representing the degree of an included angle formed by the first access control end and the mobile terminal in the positive north direction, d representing the distance between the mobile terminal and the first access control end, and +_a>Represents the abscissa of the first access terminal, < >>Represents the ordinate of the first access terminal, < ->Represents the abscissa of the target access terminal, +.>And the ordinate of the target entrance guard end is indicated.
5. The method for positioning an access light box according to claim 3, wherein the method for calculating the direction data of the target access light box is as follows: the cloud server calculates the direction data of the target access control end through the distance coordinates of the mobile terminal and the distance coordinates of the target access control end, and the cloud server sends the calculation result to the mobile terminal in real time.
6. The method for positioning an access control light box according to claim 1, wherein the connection between the mobile terminal and the bluetooth ad hoc network specifically comprises:
when the mobile terminal enters the range of the first access control end and can only receive the Bluetooth signal of the first access control end, the mobile terminal establishes connection with the first access control end;
when the mobile terminal enters the range of the first access control terminal and can receive Bluetooth signals of a plurality of access control terminals, the mobile terminal compares the strength of the Bluetooth signals of the access control terminals and establishes connection.
7. The method for positioning an access light box according to claim 1, wherein the navigation behavior comprises a walking path, a difference in arrival time, and weather conditions.
8. The method for positioning an access control light box according to claim 7, wherein the modeling of the user feedback behavior by the cloud server according to the navigation behavior in the past is specifically as follows:
converting different weather conditions into numerical values through coding;
representing the difference between the estimated arrival time and the actual arrival time by means of a continuous numerical feature;
and calculating the walking path of the user through the continuous Bluetooth connection log.
9. The positioning method of an access control lamp box according to claim 8, wherein the cloud server performs user feedback behavior modeling according to the navigation behaviors in the past to adopt a linear regression model, and the linear regression model is as follows:
，
where y represents the navigation error in the above,indicating weather conditions->Representing time of arrival deviation>The path of travel is indicated as being the path of travel,represents the intercept (I)>Indicating the influence of weather conditions on the predictions, +.>Indicating the effect of the time-of-arrival deviation on the prediction,representing the influence of the walking path on the prediction, +.>Representing the error term.
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