CN117979416A

CN117979416A - Positioning method and device, positioning system, server and storage medium

Info

Publication number: CN117979416A
Application number: CN202410042214.9A
Authority: CN
Inventors: 赵振策; 莊文杰; 潘德辉; 刘佳娴; 杨龙志
Original assignee: Shenzhen Saibo Lingke Technology Co ltd
Current assignee: Shenzhen Saibo Lingke Technology Co ltd
Priority date: 2024-01-10
Filing date: 2024-01-10
Publication date: 2024-05-03

Abstract

The embodiment of the disclosure discloses a positioning method and device, a positioning system, a server and a storage medium. The method comprises the following steps: receiving signal data sent by a plurality of gateway devices; the signal data of each gateway device carries a device identifier of a tag device arranged on an object to be positioned and the received signal strength of the gateway device to the tag device; determining target gateway equipment to which the object to be positioned associated with each equipment identifier belongs from the plurality of gateway equipment according to the equipment identifier and the signal strength in each signal data and a preset threshold value corresponding to each gateway equipment; aiming at each equipment identification associated object to be positioned, positioning the object to be positioned by utilizing the preset position of the target gateway equipment to which the object to be positioned belongs. By the method, the accuracy and stability of positioning can be improved.

Description

Positioning method and device, positioning system, server and storage medium

Technical Field

The disclosure relates to the field of positioning technologies, and in particular, to a positioning method and device, a positioning system, a server and a storage medium.

Background

The application of the positioning technology is gradually wide, such as the position searching, the vehicle navigation and the route planning of common mobile phones and other terminals, and for example, with the maturity of the internet of things technology, part of enterprises adopt the internet of things type asset management method to position the assets.

Positioning techniques can be categorized into outdoor positioning and indoor positioning, and generally, the outdoor positioning adopts a positioning method of global positioning system (Global Positioning System, GPS) positioning or location-based services (Location Based Services, LBS), and the application of the outdoor positioning techniques in vehicle navigation is relatively mature. However, for indoor application scenarios, the accuracy of indoor positioning is still to be improved.

Disclosure of Invention

In view of this, it is desirable for embodiments of the present disclosure to provide a positioning method and apparatus, a positioning system, a server, and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a positioning method, including:

receiving signal data sent by a plurality of gateway devices; the signal data of each gateway device carries a device identifier of a tag device arranged on an object to be positioned and the received signal strength of the gateway device to the tag device;

Determining target gateway equipment to which the object to be positioned associated with each equipment identifier belongs from the plurality of gateway equipment according to the equipment identifier and the signal strength in each signal data and a preset threshold value corresponding to each gateway equipment; the preset threshold value comprises a first signal strength threshold value used for representing the signal coverage range entering the gateway equipment and a second signal strength threshold value used for representing the signal coverage range leaving the gateway equipment;

aiming at each equipment identification associated object to be positioned, positioning the object to be positioned by utilizing the preset position of the target gateway equipment to which the object to be positioned belongs.

In some embodiments, the determining, in the plurality of gateway devices, the target gateway device to which the object to be located associated with each device identifier belongs according to the device identifier in each signal data, the signal strength, and the preset threshold value corresponding to each gateway device includes:

According to the equipment identification in each signal data, using the gateway equipment associated with the same equipment identification in different gateway equipment as each candidate gateway equipment of the target object to be positioned; the target object to be positioned is an object to be positioned associated with the same equipment identifier;

For each target object to be positioned, responding to the gateway equipment marked with the initial attribution, and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment with the initial attribution, the second signal intensity threshold value of the gateway equipment with the initial attribution, the signal intensity in the signal data of each candidate gateway equipment and the first signal intensity threshold value of each candidate gateway equipment; wherein the initially home gateway device is one of the plurality of gateway devices.

In some embodiments, the determining the target gateway device to which the target object to be located belongs according to the signal strength in the signal data of the gateway device to which the target object is initially attached, the second signal strength threshold of the gateway device to which the target object is initially attached, the signal strength in the signal data of each candidate gateway device, and the first signal strength threshold of each candidate gateway device includes:

Determining target candidate gateway equipment with signal strength meeting a first preset signal strength condition based on the signal strength in the signal data of each candidate gateway equipment;

and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment to which the target object belongs, the second signal intensity threshold value of the gateway equipment to which the target object belongs, the signal intensity in the signal data of the target candidate gateway equipment and the first signal intensity threshold value of the target candidate gateway equipment.

In some embodiments, the determining the target gateway device to which the target object to be located belongs according to the signal strength in the signal data of the gateway device to which the target object to be located belongs, the second signal strength threshold of the gateway device to which the target object to be located belongs, and the signal strength in the signal data of the target candidate gateway device, the first signal strength threshold of the target candidate gateway device, includes:

determining the initially-homed gateway equipment as target gateway equipment of the target object to be positioned in response to the signal strength in the signal data of the initially-homed gateway equipment being greater than a second signal strength threshold value of the initially-homed gateway equipment;

And determining the target gateway device of the target object to be positioned based on the target candidate gateway device with the signal strength greater than or equal to the first signal strength threshold value of the target candidate gateway device in response to the signal strength in the signal data of the gateway device with the initial attribution being less than or equal to the second signal strength threshold value of the gateway device with the initial attribution and the signal strength in the signal data of the target candidate gateway device being greater than or equal to the first signal strength threshold value of the target candidate gateway device.

In some embodiments, the method further comprises:

And for each target object to be positioned, responding to the gateway equipment which is not marked with the initial attribution, and determining the candidate gateway equipment with the signal intensity meeting the second preset signal intensity condition in the signal data of each candidate gateway equipment as the target gateway equipment to which the target object to be positioned belongs.

In some embodiments, the plurality of gateway devices includes a first gateway device and a second gateway device, and the signal strength range determined based on the second signal strength threshold of the first gateway device intersects the signal strength range determined based on the first signal strength threshold of the second gateway device.

And determining target gateway equipment to which the object to be positioned is associated in each equipment identifier from the plurality of gateway equipment according to the equipment identifier, the signal strength and the corresponding preset threshold value of each gateway equipment in each signal data at preset time intervals.

In some embodiments, the object to be located comprises an asset object.

In some embodiments, the positioning the object to be positioned by using the preset position of the target gateway device to which the object to be positioned belongs includes:

And determining the preset position of the target gateway equipment to which the object to be positioned belongs as the position of the object to be positioned.

In a second aspect, embodiments of the present disclosure provide a positioning device, the device comprising:

A receiving module configured to receive signal data transmitted by a plurality of gateway devices; the signal data of each gateway device carries a device identifier of a tag device arranged on an object to be positioned and the received signal strength of the gateway device to the tag device;

The first determining module is configured to determine target gateway equipment to which the object to be positioned is associated in each equipment identifier belongs from the plurality of gateway equipment according to the equipment identifier and the signal strength in each signal data and a preset threshold value corresponding to each gateway equipment; the preset threshold value comprises a first signal strength threshold value used for representing the signal coverage range entering the gateway equipment and a second signal strength threshold value used for representing the signal coverage range leaving the gateway equipment;

The positioning module is configured to position the object to be positioned by utilizing the preset position of the target gateway equipment to which the object to be positioned belongs aiming at each equipment identification associated object to be positioned.

In some embodiments, the first determining module is further configured to use gateway devices associated with the same device identifier in different gateway devices as candidate gateway devices of the target object to be located according to the device identifier in each signal data; the target object to be positioned is an object to be positioned associated with the same equipment identifier; for each target object to be positioned, responding to the gateway equipment marked with the initial attribution, and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment with the initial attribution, the second signal intensity threshold value of the gateway equipment with the initial attribution, the signal intensity in the signal data of each candidate gateway equipment and the first signal intensity threshold value of each candidate gateway equipment; wherein the initially home gateway device is one of the plurality of gateway devices.

In some embodiments, the first determining module is further configured to determine, based on the signal strengths in the signal data of the candidate gateway devices, a target candidate gateway device whose signal strength satisfies a first preset signal strength condition; and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment to which the target object belongs, the second signal intensity threshold value of the gateway equipment to which the target object belongs, the signal intensity in the signal data of the target candidate gateway equipment and the first signal intensity threshold value of the target candidate gateway equipment.

In some embodiments, the first determining module is further configured to determine the initially-homed gateway device as the target gateway device of the target object to be located in response to a signal strength in the signal data of the initially-homed gateway device being greater than a second signal strength threshold value of the initially-homed gateway device; and determining the target gateway device of the target object to be positioned based on the target candidate gateway device with the signal strength greater than or equal to the first signal strength threshold value of the target candidate gateway device in response to the signal strength in the signal data of the gateway device with the initial attribution being less than or equal to the second signal strength threshold value of the gateway device with the initial attribution and the signal strength in the signal data of the target candidate gateway device being greater than or equal to the first signal strength threshold value of the target candidate gateway device.

In some embodiments, the apparatus further comprises:

The second determining module is used for determining candidate gateway equipment with signal strength meeting a second preset signal strength condition in signal data of each candidate gateway equipment as target gateway equipment to which the target object to be positioned belongs according to each target object to be positioned in response to the gateway equipment to which the initial attribution is not marked.

In some embodiments, the first determining module is further configured to determine, according to a preset time interval and according to a device identifier in each signal data, a signal strength, and a preset threshold value corresponding to each gateway device, a target gateway device to which an object to be located associated with each device identifier belongs from the plurality of gateway devices.

In some embodiments, the object to be located comprises an asset object.

In some embodiments, the positioning module is further configured to determine a preset location of the target gateway device to which the object to be positioned belongs as the location of the object to be positioned.

In a third aspect, embodiments of the present disclosure provide a positioning system comprising:

At least one tag device disposed on the object to be located for transmitting a broadcast message; wherein, the broadcast message at least carries the equipment identifier of the tag equipment; wherein the tag device is used for identifying an object to be positioned;

A plurality of gateway devices for receiving the broadcast message and generating signal data; the signal data carries the equipment identifier of the tag equipment and the received signal strength of the tag equipment;

The server is used for receiving the signal data sent by the plurality of gateway devices, and determining target gateway devices to which the objects to be positioned associated with each device identifier belong from the plurality of gateway devices according to the device identifier and the signal strength in each signal data and the preset threshold value corresponding to each gateway device; and aiming at each equipment identification associated object to be positioned, positioning the object to be positioned by utilizing a preset position of target gateway equipment to which the object to be positioned belongs, wherein the preset threshold value comprises a first signal strength threshold value used for representing signal coverage of entering the gateway equipment and a second signal strength threshold value used for representing signal coverage of leaving the gateway equipment.

In a fourth aspect, embodiments of the present disclosure provide a server, including:

a memory for storing computer executable instructions;

and a processor, coupled to the memory, for implementing the method described in the first aspect by executing the computer-executable instructions.

In a fifth aspect, embodiments of the present disclosure provide a storage medium having stored thereon computer-executable instructions; the computer executable instructions, when executed by a processor, enable the method described in the first aspect above to be implemented.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

In the embodiment of the disclosure, based on the dual threshold setting of the gateway device (including a first signal strength threshold value for representing the signal coverage of the entering gateway device and a second signal strength threshold value for representing the signal coverage of the leaving gateway device), the server can determine the target gateway device to which the object to be positioned belongs by simultaneously restricting the two threshold values according to the signal strength in the signal data sent by the gateway device, so that the accuracy of positioning the edge coverage area can be improved. In addition, the occurrence of the situation that positioning cannot be performed due to ping-pong switching caused by signal fluctuation can be reduced, and the positioning stability is improved, for example, the positioning stability in an edge coverage area can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Fig. 1 is a flow chart of a positioning method implemented by the present disclosure.

Fig. 2 is an exemplary diagram of an object to be located in an edge coverage area of a different gateway device in an embodiment of the present disclosure.

Fig. 3 is a structural example diagram of a positioning system in the present disclosure.

Fig. 4 is a flowchart illustrating an exemplary positioning method according to an embodiment of the present disclosure.

Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the disclosure.

Fig. 6 is a schematic diagram of a hardware entity of a server according to an embodiment of the disclosure.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure are further elaborated below in conjunction with the drawings and the embodiments, and the described embodiments should not be construed as limiting the present disclosure, and all other embodiments obtained by those skilled in the art without making inventive efforts are within the scope of protection of the present disclosure.

The terms "first/second/third" and "first/second/third" in reference to the present disclosure are merely distinguishing between similar objects and not representing a particular ordering of objects, it being understood that the "first/second/third" may be interchanged with a particular order or precedence, as allowed, to enable embodiments of the disclosure described herein to be implemented in other than those illustrated or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing the present disclosure only and is not intended to be limiting of the present disclosure.

The positioning method provided by the embodiment of the disclosure can be applied to electronic equipment including a server, and the server is exemplified by an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution network (CDN, content Delivery Network) services, basic cloud computing services such as big data and artificial intelligent platforms and the like. In some possible implementations, the debugging method may be implemented by a processor in the server invoking computer readable instructions stored in memory. The embodiment of the disclosure is applied to a server for explanation in a positioning method.

Fig. 1 is a flowchart of a positioning method implemented in the present disclosure, as shown in fig. 1, including the following steps:

S11, receiving signal data sent by a plurality of gateway devices; the signal data of each gateway device carries a device identifier of a tag device arranged on an object to be positioned and the received signal strength of the gateway device to the tag device;

S12, determining target gateway equipment to which the object to be positioned associated with each equipment identifier belongs from the plurality of gateway equipment according to the equipment identifier and the signal strength in each signal data and a preset threshold value corresponding to each gateway equipment; wherein the preset threshold value comprises a first signal strength threshold used for representing the coverage range of the signal entering the gateway equipment and a second signal strength threshold used for representing the coverage range of the signal leaving the gateway equipment;

S13, aiming at each equipment identification associated object to be positioned, positioning the object to be positioned by utilizing target gateway equipment to which the object to be positioned belongs.

In the embodiment of the disclosure, the gateway device may be a bluetooth gateway, a Wi-Fi gateway, or an RFID gateway based on radio frequency identification (Radio Frequency Identification, RFID) technology, and the gateway device may receive and transmit data.

In step S11, the server may receive signal data sent by a plurality of gateway devices in a wired manner or a wireless manner, for example, the server and the gateway devices are connected based on a network cable so as to perform data transmission in a wired manner; or the server and the gateway equipment are wirelessly connected based on Wi-Fi or other mobile communication modules, so that data transmission in a wireless mode is performed. The signal data carries the device identification of the tag device. The device identifier may be a device name of the tag device, or a physical Address (MEDIA ACCESS Control Address, MAC Address) of the tag device for network communication, a device serial number or a universal unique identifier (Universally Unique Identifier, UUID), etc., which are not limited in the embodiments of the present disclosure.

In the disclosed embodiment, the tag device is disposed on the object to be positioned, and thus one tag device is used to uniquely identify one object to be positioned. The object to be positioned can be an object without information processing capability, such as an object of an article, a person or an animal, and the tag device can be an electronic device provided with a Bluetooth module, a Wi-Fi module or a RFID communication module; in addition, the object to be positioned may also be an electronic device with information processing capability, and in this case, the tag device may be a communication module in the object to be positioned. In the embodiment of the disclosure, the tag device and the gateway device are based on the same communication module so as to realize mutual communication.

In addition, the signal data also carries the received signal strength of the gateway device to the tag device, where the signal strength may be obtained by the gateway device receiving the information sent by the tag device and analyzing and calculating, for example, a received signal strength (RECEIVED SIGNAL STRENGTH Indicator, RSSI) value of the gateway device. For example, taking the gateway device and the tag device as an example based on bluetooth communication, the tag device may broadcast bluetooth information periodically, where the bluetooth information may carry MAC address information of the tag device, and may also carry parameters such as a broadcast time interval, a transmit power, and the like. After Bluetooth scanning is carried out on surrounding areas by gateway equipment and Bluetooth information is received, MAC addresses of tag equipment are obtained through analysis, and received signal strength RSSI values are calculated based on the analyzed information.

In step S12, the server determines, from the plurality of gateway devices, a target gateway device to which the object to be located associated with each device identifier belongs, according to the device identifier, the signal strength, and the preset threshold value corresponding to each gateway device in each signal data. The preset threshold value corresponding to the gateway equipment is a double threshold, and comprises a first signal strength threshold value used for representing the signal coverage range entering the gateway equipment and a second signal strength threshold value used for representing the signal coverage range leaving the gateway equipment. Because the closer to the gateway device, the greater the signal strength, the greater or equal the first signal strength threshold value, which may be referred to as an admission threshold, indicates the signal coverage area entering the gateway device; in addition, since the signal strength is smaller the farther away from the signal coverage of the gateway device, a value less than or equal to the second signal strength threshold value indicates that the signal coverage of the gateway device is away from the gateway device, and the second signal strength threshold value may be referred to as a departure threshold. Typically, the first signal strength threshold is greater than the second signal strength threshold for the same gateway device. In the embodiment of the disclosure, the first signal strength threshold value and the second signal strength threshold value corresponding to each gateway device may be obtained through experimental tests in advance.

In an actual positioning scenario, there may be a case that the same object to be positioned is located in signal coverage areas of different gateway devices at the same time, for example, signal coverage areas of two gateway devices have coverage at edges, and if the signal strengths of a tag device identifying the same object to be positioned and each gateway device are both larger, if the target gateway device is determined based on only one threshold value, for example, a first signal strength threshold value of two gateway devices, it may be obtained that the positioning object is simultaneously attributed to the two gateway devices, which is different from the actual situation, and there is a positioning error.

And because the signal strength received by the gateway device may be interfered by surrounding environments, such as metal, water, glass and shielding of human body, the signal strength value may fluctuate rapidly (about within plus or minus 5 db), then there may be an abrupt change of the environment of the object to be positioned originally placed in the positioning area of the gateway device a, so that the signal strength in the signal data corresponding to the gateway device a is small, while the signal strength of the adjacent gateway device B becomes larger and may be larger than the signal strength corresponding to the gateway device a, then the target gateway device is determined simply based on the value with higher signal strength, or the target gateway device is determined based on only the first signal strength threshold value representing the signal coverage into the gateway device, and there may be an error in determining the gateway device B as the target gateway device. In addition, also due to fluctuations in signal strength that are affected by the environment, the maximum signal strength may change back and forth between gateway device a and gateway device B, resulting in a "ping-pong handover" and thus an inability to locate. Aiming at the situation that an object to be positioned is positioned in the edge coverage areas of different gateway equipment, positioning errors or incapability of positioning are caused by signal fluctuation.

In the embodiment of the disclosure, since each gateway device is provided with the first signal strength threshold value and the second signal strength threshold value, the target gateway device to which the object to be positioned belongs can be determined based on the two threshold values and constraint at the same time. For example, for the same object to be positioned, the target gateway device is determined based on the second signal strength threshold value of the gateway device a and the first signal strength threshold value of the gateway device B.

In step S13, the server identifies, for each device, the associated object to be located, and locates the object to be located by using the preset position of the target gateway device to which the object to be located belongs. In the embodiment of the disclosure, different positioning modes can be adopted according to the positioning precision requirement of the object to be positioned.

In some embodiments, for a scenario in which an accurate position needs to be given, for example, when a specific position of a person carrying the tag device needs to be known, a distance between the tag device (i.e. the object to be located) and the gateway device may be determined based on a signal strength corresponding to the target gateway device, so that position tracking of the object to be located is achieved based on a preset position and distance of the target gateway device.

In other embodiments, for a scenario that does not need to give an accurate position, for example, in an asset inventory scenario, the object to be positioned is an asset object, and generally, area-level positioning can meet the service function, and high-precision tracking and positioning performance is not needed. Therefore, in such a scenario, when the server locates the object to be located by using the preset position of the target gateway device of the object to be located, the preset position of the target gateway device to which the object to be located belongs can be determined as the position of the object to be located.

It should be noted that, in the embodiment of the present disclosure, the preset position of the target gateway device may be a position surveyed in an actual field, and the corresponding position where the object to be positioned is located may be a position in the actual field. In addition, the preset location of the target gateway device may also be a location in a map. For example, the server obtains a GIS map of the target site in advance based on a geographic information system (Geographic Information System, GIS) technology, and uses one corner of the constructed GIS map as an origin of coordinates, coordinates of all gateway devices on the GIS map are calibrated through position information of gateway devices actually surveyed by the site, and the server can determine the position of an object to be positioned on the GIS map based on the position of the target gateway device on the GIS map.

In the embodiment of the disclosure, the server may be provided with a "positioning management" function module, where the function module supports information display of an object to be positioned, association of tag devices of the object to be positioned, and position information display of the object to be positioned after positioning. For example, for an asset object, the asset can be registered, information is entered, a picture is uploaded, and the like in advance, after the server locates the position of the asset object based on the target gateway device, the picture of the asset object is associated in the GIS map, the position of the asset object is marked and displayed, and in addition, related text entry information of the asset object, information of the bound tag device, and the like can be displayed on the display interface.

In related indoor positioning technologies, a bluetooth low energy (Bluetooth Low Energy, BLE) technology is generally used to perform positioning based on a Received Signal Strength Indication (RSSI), an Angle-Of-Arrival (AoA), an Angle-Of-Departure (AoD), a Time Of Arrival (ToA), a Time difference Of Arrival (TIME DIFFERENCE Of Arrival, TDoA), or a Time Of flight (ToF), etc. Different technologies have different implementation difficulties, power consumption and precision, wherein the scheme based on the received signal strength indication has the advantages of low power consumption, low cost and simplicity. However, the solution based on the received signal strength indication has the problems of unstable bluetooth signals and/or incorrect positioning or incapacity of positioning of the object to be positioned due to the coverage area of the edge of different gateway devices.

In this regard, in the embodiment of the present disclosure, based on the dual threshold setting of the gateway device (including a first signal strength threshold for characterizing the signal coverage area entering the gateway device and a second signal strength threshold for characterizing the signal coverage area leaving the gateway device), the server may determine, according to the signal strength in the signal data sent by the gateway device, the target gateway device to which the object to be located belongs by simultaneously restricting the two threshold values, thereby improving the accuracy of edge coverage area location. In addition, the occurrence of the situation that positioning cannot be performed due to ping-pong switching caused by signal fluctuation can be reduced, and the positioning stability is improved, for example, the positioning stability in an edge coverage area can be improved.

Illustratively, when applied to an asset inventory scenario, the solution of the embodiments of the present disclosure can reduce statistical errors in asset inventory and provide statistical stability.

For each target object to be positioned, responding to the gateway equipment marked with the initial attribution, and determining the target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment with the initial attribution, the second signal intensity threshold value of the gateway equipment with the initial attribution, the signal intensity in the signal data of each candidate gateway equipment and the first signal intensity threshold value of each candidate gateway equipment.

In the embodiment of the present disclosure, since the server is facing all gateway devices, signal data of all gateway devices are uploaded to the server to implement positioning of each object to be positioned, and a distance between gateway devices may not be very large, and there is a situation that signal coverage areas of different gateway devices intersect, then different gateway devices may detect information sent by the same tag device, and corresponding, signal data of different gateway devices are associated with the same tag device, that is, associated with the same object to be positioned. In addition, for a certain object to be located, considering that the gateway device associated with the signal data and the object to be located is only likely to be the target gateway device to which the object to be located belongs, in the embodiment of the present disclosure, the server needs to distinguish the gateway device associated with the object to be located from the received signal data of multiple gateway devices, so as to determine the target gateway device further based on the gateway device associated with the object to be located.

In the embodiment of the disclosure, the object to be positioned associated with the same equipment identifier is called a target object to be positioned, and each gateway equipment associated with the target object to be positioned is called a candidate gateway equipment. Illustratively, a tag device on a target object to be located is referred to as a "location tag a", and its associated candidate gateway device may include: gateway device a, gateway device B, gateway device C, etc.; further, referring to a tag device on another target object to be located as "location tag b", its associated candidate gateway device may include: gateway device C, gateway device D, gateway device E, etc.

It should be noted that, in the embodiment of the present disclosure, since the object to be located (i.e. the tag device) and the gateway device are initially placed, the gateway device to which the object to be located initially belongs may be marked for each object to be located based on the relationship between the placement positions of the object to be located and the gateway device. The server is required to re-determine the target home gateway for automated positioning, simply because the location of the subsequent object to be positioned may change.

As mentioned above, since the object to be located may be located in the edge coverage area of different gateway devices and/or the signal strength may fluctuate due to environmental influence, the server needs to exclude the interference so as to accurately distinguish the situation that the location of the object to be located is actually changed. In this regard, in the embodiment of the disclosure, the server determines, based on the signal strength in the signal data of the gateway device to which the target object to be located belongs, the second signal strength threshold of the gateway device to which the target object to be located belongs, the signal strength in the signal data of each candidate gateway device, and the first signal strength threshold of each candidate gateway device.

It should be noted that, in the embodiment of the present disclosure, the gateway device to which the target to be located is initially attached may be manually determined and then marked, or may be determined by the server according to the signal strength detected by each gateway device based on the first place where the target to be located is placed. The signal strength detected by each gateway device refers to the strength of information sent by the tag device on the object to be positioned and received by the gateway device.

It may be appreciated that in the embodiment of the present disclosure, the server determines, for each target to be located object associated with the same device identifier, each candidate gateway device associated with the target to be located object, and determines, for each target to be located object, the target gateway device to which the target to be located object belongs based on the second signal strength threshold value (i.e. the leaving threshold) of the gateway device to which the marker initially belongs and the first signal strength threshold value (i.e. the admission threshold) of each candidate gateway device, so as to accurately determine whether the position of the target to be located object changes, thereby implementing accurate location of the target to be located object.

In the embodiment of the present disclosure, determining that the signal strength meets the first preset signal strength condition may mean that, among a plurality of candidate gateway devices associated with the target object to be located, the target candidate gateway device with the maximum signal strength is more likely to be a gateway to which the target object to be located belongs.

For example, the server may comb candidate gateway devices associated with the target object to be located based on the signal data of each gateway device, for example, taking bluetooth communication as an example, the tag device and the gateway device may comb in the following format:

Bluetooth positioning tag a, bluetooth gateway A-reception intensity xx, bluetooth gateway B-reception intensity xx, bluetooth gateway C-reception intensity xx, … …);

bluetooth positioning tag B, bluetooth gateway D-reception intensity xx, bluetooth gateway F-reception intensity xx, bluetooth gateway B-reception intensity xx, … …);

The Bluetooth gateway associated with the Bluetooth positioning tag a is candidate gateway equipment of the target object to be positioned, which is identified by the Bluetooth positioning tag a; similarly, each bluetooth gateway associated with the bluetooth positioning tag b is a candidate gateway device of the target object to be positioned identified by the bluetooth positioning tag b. Taking "bluetooth positioning tag a" as an example, in the above format, bluetooth gateway a, bluetooth gateway B, and bluetooth gateway C … … are sequentially arranged in order of from high to low received signal strength. In the embodiment of the disclosure, the target candidate gateway device of the target object to be positioned, which is identified by the Bluetooth positioning label a, is a Bluetooth gateway A; the target candidate gateway device of the target object to be localized identified by the "bluetooth localization tag b" is the bluetooth gateway D.

In addition, determining that the signal strength satisfies the first preset signal strength condition may also refer to the signal strength being, for example, greater than a statistical value of the signal strength in the signal data of each candidate gateway device, for example, the statistical value is an average value or a median value, or the like. Because the target candidate gateway equipment with higher signal strength is more likely to be the gateway to which the target object to be positioned belongs, some candidate gateways which cannot belong to the home gateway can be removed in advance by the mode. It should be noted that, the target candidate gateway device screened based on the first preset signal strength condition in the embodiment of the disclosure may be one or more.

In the embodiment of the disclosure, when there are a plurality of target candidate gateway devices, the probability of finding the target gateway device may be enlarged based on the first signal strength threshold values corresponding to the plurality of target candidate gateway devices. For example, in the case that there is only one target candidate gateway device, it may also occur that the situation that the first signal strength threshold value of the target candidate gateway device is too high and simultaneously satisfies the second signal strength threshold value of the gateway device to which the target candidate gateway device belongs, which results in the situation that the target candidate gateway device cannot be located.

It may be appreciated that in the embodiment of the present disclosure, after the server screens out a portion of target candidate gateway devices based on the first preset signal strength condition, determining, based on the initially-attributed gateway device and the threshold value corresponding to the target candidate gateway device, the target gateway device to which the target object to be located is attributed, so that the efficiency of determining the target gateway device can be improved.

and responding to the fact that the signal strength in the signal data of the gateway equipment which is originally belonged is smaller than or equal to a second signal strength threshold value of the gateway equipment which is originally belonged, and the signal strength in the signal data of the target candidate gateway equipment is larger than or equal to a first signal strength threshold value of the target candidate gateway equipment, and the signal strength is larger than or equal to the first signal strength threshold value.

In the embodiment of the present disclosure, when the position of the target object to be located does not change, even if the signal fluctuates, the signal strength of the gateway device to which the initial home belongs is not too small, so that when the server determines that the signal strength in the signal data of the gateway device to which the initial home belongs is greater than the second signal strength threshold value of the gateway device to which the initial home belongs (i.e., the departure threshold of the gateway device to which the initial home does not meet), the gateway device to which the initial home belongs is determined as the target gateway device of the target object to be located. It should be noted that, in this case, whether the signal strength corresponding to the target candidate gateway device is greater than the first signal strength threshold value of the target candidate gateway device is not limited in the embodiments of the present disclosure.

In addition, since the signal strength of the initially-homed gateway device may become smaller and the signal strength of the target candidate gateway device may increase when the position of the target object to be located changes, the server determines the target gateway device of the target object to be located based on the target candidate gateway device whose signal strength is greater than or equal to the first signal strength threshold value when the signal strength in the signal data of the initially-homed gateway device satisfies the departure threshold of the initially-homed gateway device (i.e., is less than or equal to the second signal strength threshold value of the initially-homed gateway device) and the signal strength in the signal data of the target candidate gateway device satisfies the entry threshold of the target candidate gateway device (i.e., is greater than or equal to the first signal strength threshold value).

It should be noted that, in a case where the signal strength in the signal data of the gateway device of the initial home meets the departure threshold of the gateway device of the initial home, there may be signal strengths in the signal data of one or more target candidate gateway devices that are greater than or equal to the corresponding first signal strength threshold value, and in some embodiments, in a case where only one target candidate gateway device has a signal strength that is greater than or equal to the first signal strength threshold value, the server directly determines the target candidate gateway device as the target gateway device; in some embodiments, in the case where there are a plurality of target candidate gateway devices whose signal strengths are greater than or equal to the first signal strength threshold value, the server may determine the target candidate gateway device in which the signal strength is the largest as the target gateway device.

It can be appreciated that, in the embodiment of the present disclosure, based on the comparison between the signal strength and the second signal strength threshold of the gateway device to which the signal strength is initially attached, and in combination with the comparison between the signal strength and the first signal strength threshold of the target candidate gateway device, whether the target object to be located changes in position can be distinguished more accurately, so that the accuracy and stability of location under the condition of edge coverage area and/or signal fluctuation are effectively improved.

In some embodiments, the method further comprises:

In the embodiment of the present disclosure, in the case that the target object to be located does not mark the gateway device to which the initial home location is attached, the server determines, as the target gateway device to which the target object to be located is attached, the candidate gateway device whose signal strength satisfies the second preset signal strength condition, which may refer to determining, as the target gateway device, the candidate gateway device whose signal strength is the largest; and determining the candidate gateway device with the maximum signal strength and meeting the signal strength greater than or equal to the first preset signal strength threshold value of the candidate gateway device as the target gateway device, which is not limited by the embodiment of the disclosure.

It can be understood that, in the embodiment of the present disclosure, since the signal strength is a direct representation of the position between the target to-be-located object and the gateway device, in the case that the target to-be-located object does not mark the gateway device to which the initial home location is attached, the manner of directly determining the target gateway device to which the target to-be-located object belongs based on the signal strength in the signal data of the candidate gateway device is simple and effective.

It should be noted that, under the condition that the initial home gateway device is not marked, the target gateway device currently determined by the server, that is, the initial home gateway device of the target object to be positioned, on one hand, the automatic marking of the initial home gateway device under the condition that the manual marking is not based is convenient, and the intelligence of the positioning method is improved. On the other hand, the server is also convenient to determine whether the attribution change of the gateway equipment occurs or not based on the gateway equipment of the initial attribution when the server locates the target object to be located next time.

In the embodiment of the present disclosure, if the preset threshold settings of different gateway devices are unreasonable, there may be a case that the signal strength of the same object to be positioned in the signal data of the gateway device a satisfies the leaving threshold of the gateway device a (i.e., is smaller than or equal to the second signal strength threshold of the gateway device a), but the signal strength of the object to be positioned in the signal data of the gateway device B does not satisfy the admission threshold of the gateway device B (i.e., is smaller than the first signal strength threshold of the gateway device B), and at this time, the object to be positioned cannot be positioned.

In this regard, in the embodiment of the present disclosure, the plurality of gateway devices includes a first gateway device and a second gateway device, where a signal strength range determined based on a second signal strength threshold of the first gateway device and a signal strength range determined based on a first signal strength threshold of the second gateway device have an intersection, for example, the first gateway device is an initially-home gateway device, and the second gateway device is a target gateway device, so that an object to be positioned can be accurately homed to the target gateway device, and stability of positioning is improved. For example, the first gateway device and the second gateway device may be devices having a distance less than a preset distance range, and the object to be positioned may be located in an edge coverage area of the first gateway device and the second gateway device.

Fig. 2 is an exemplary diagram of an object to be located in an edge coverage area of a different gateway device in an embodiment of the disclosure, as shown in fig. 2, which is a scenario of positioning based on bluetooth technology. The bluetooth positioning tag K is used for identifying an object to be positioned, and is located in edge coverage areas of the bluetooth gateway a and the bluetooth gateway B. As seen from fig. 2, there is an intersection between the signal ranges corresponding to the leaving threshold of the bluetooth gateway a and the admission threshold of the bluetooth gateway B, so that, for example, when the bluetooth positioning tag K moves from the in-door area where the bluetooth gateway a is located to the in-door area where the bluetooth gateway B is located, it can be accurately positioned to be attributed to the bluetooth gateway B. The bluetooth gateway a may be a gateway device to which the bluetooth positioning tag K initially belongs, and the bluetooth gateway B may be a target gateway device of the bluetooth positioning tag K.

In the embodiment of the disclosure, the situation that the position of the object to be positioned changes is considered not to be too frequent, and because the target gateway equipment is not required to be frequently determined for positioning, the necessity of positioning can be improved by the server in a mode of determining the target gateway equipment according to the preset time interval, and the power consumption of the server is reduced.

Fig. 3 is a structural example diagram of a positioning system in the present disclosure, as shown in fig. 3, including:

at least one tag device 301 disposed on an object to be located for transmitting a broadcast message; wherein, the broadcast message at least carries the equipment identifier of the tag equipment; wherein the tag device is used for identifying an object to be positioned;

A plurality of gateway devices 302 for receiving broadcast messages and generating signal data; the signal data carries the equipment identifier of the tag equipment and the received signal strength of the tag equipment;

The server 303 is configured to receive signal data sent by a plurality of gateway devices, and determine, from the plurality of gateway devices, a target gateway device to which an object to be located associated with each device identifier belongs, according to a device identifier and a signal strength in each signal data, and a preset threshold value corresponding to each gateway device; and aiming at each equipment identification associated object to be positioned, positioning the object to be positioned by utilizing a preset position of target gateway equipment to which the object to be positioned belongs, wherein the preset threshold value comprises a first signal strength threshold value used for representing signal coverage of entering the gateway equipment and a second signal strength threshold value used for representing signal coverage of leaving the gateway equipment.

Based on the positioning system shown in fig. 3, taking the positioning of the bluetooth gateway in the asset inventory scenario as an example for explanation, fig. 4 is a flowchart of an example of a positioning method implemented in the present disclosure, as shown in fig. 4, including the following steps:

S41, broadcasting a message by the Bluetooth positioning tag bound with the asset.

In the implementation of the present disclosure, the asset is an object to be located, and the bluetooth location tag bound to the asset is a tag device 301 placed on the object to be located, the tag device may broadcast a bluetooth message.

S42, the Bluetooth gateway scans, solves and returns.

In the embodiment of the disclosure, the bluetooth gateway, i.e. the gateway device 302, parses and calculates the device identifier including the bluetooth positioning tag after scanning the message broadcast by the bluetooth positioning tag, and the signal data of the bluetooth gateway on the received signal strength of the bluetooth positioning tag, and then returns the signal data to the positioning server.

S43, the positioning server performs data processing and outputs the coordinates of the Bluetooth positioning tag.

In the embodiment of the present disclosure, the positioning server, i.e., the server 303 in fig. 3, is the aforementioned server performing the positioning method. The positioning server performs data processing, including the foregoing determining, in the plurality of gateway devices, a target gateway device to which the object to be positioned associated with each device identifier belongs according to the device identifier and the signal strength in each signal data, and a preset threshold value corresponding to each gateway device, and positioning the object to be positioned based on a preset position of the target gateway device.

In the embodiment of the present disclosure, based on the positioning system shown in fig. 3, a message is broadcast through the tag device 301, and the gateway device 302 parses and generates signal data to be transmitted to the server 303, on one hand, considering that the tag device 301 belongs to a user terminal device associated with an object to be positioned, the power consumption of the tag device 301 can be reduced by the gateway device 302 parsing and transmitting the data to the server 303; on the other hand, based on the double threshold setting of each gateway device, the server can determine the target gateway device to which the object to be positioned belongs by simultaneously restraining the two threshold values according to the signal intensity in the signal data sent by the gateway device, so that the accuracy of edge coverage area positioning can be improved. In addition, the occurrence of the situation that positioning cannot be performed due to ping-pong switching caused by signal fluctuation can be reduced, and the positioning stability is improved, for example, the positioning stability in an edge coverage area can be improved.

Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the disclosure, and as shown in fig. 5, a positioning device 500 includes:

A receiving module 501 configured to receive signal data sent by a plurality of gateway devices; the signal data of each gateway device carries a device identifier of a tag device arranged on an object to be positioned and the received signal strength of the gateway device to the tag device;

A first determining module 502, configured to determine, according to the device identifier and the signal strength in each signal data, and a preset threshold value corresponding to each gateway device, a target gateway device to which an object to be located associated with each device identifier belongs from the plurality of gateway devices; the preset threshold value comprises a first signal strength threshold value used for representing the signal coverage range entering the gateway equipment and a second signal strength threshold value used for representing the signal coverage range leaving the gateway equipment;

The positioning module 503 is configured to identify, for each device, an associated object to be positioned, and position the object to be positioned by using a preset position of the target gateway device to which the object to be positioned belongs.

In some embodiments, the first determining module 501 is further configured to use, according to the device identifier in each signal data, the gateway device associated with the same device identifier in different gateway devices as each candidate gateway device of the target object to be located; the target object to be positioned is an object to be positioned associated with the same equipment identifier; for each target object to be positioned, responding to the gateway equipment marked with the initial attribution, and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment with the initial attribution, the second signal intensity threshold value of the gateway equipment with the initial attribution, the signal intensity in the signal data of each candidate gateway equipment and the first signal intensity threshold value of each candidate gateway equipment; wherein the initially home gateway device is one of the plurality of gateway devices.

In some embodiments, the first determining module 501 is further configured to determine, based on the signal strength in the signal data of each candidate gateway device, a target candidate gateway device whose signal strength meets a first preset signal strength condition; and determining target gateway equipment to which the target object to be positioned belongs according to the signal intensity in the signal data of the gateway equipment to which the target object belongs, the second signal intensity threshold value of the gateway equipment to which the target object belongs, the signal intensity in the signal data of the target candidate gateway equipment and the first signal intensity threshold value of the target candidate gateway equipment.

In some embodiments, the first determining module 501 is further configured to determine the initially-homed gateway device as the target gateway device of the target object to be located in response to the signal strength in the signal data of the initially-homed gateway device being greater than the second signal strength threshold of the initially-homed gateway device; and determining the target gateway device of the target object to be positioned based on the target candidate gateway device with the signal strength greater than or equal to the first signal strength threshold value of the target candidate gateway device in response to the signal strength in the signal data of the gateway device with the initial attribution being less than or equal to the second signal strength threshold value of the gateway device with the initial attribution and the signal strength in the signal data of the target candidate gateway device being greater than or equal to the first signal strength threshold value of the target candidate gateway device.

In some embodiments, the apparatus further comprises:

In some embodiments, the first determining module 501 is further configured to determine, according to a preset time interval, a device identifier in each signal data, a signal strength, and a preset threshold value corresponding to each gateway device, a target gateway device to which an object to be located associated with each device identifier belongs from the plurality of gateway devices.

In some embodiments, the object to be located comprises an asset object.

In some embodiments, the positioning module 503 is further configured to determine a preset location of the target gateway device to which the object to be positioned belongs as the location of the object to be positioned.

The description of the apparatus embodiments above is similar to that of the method embodiments above, with similar advantageous effects as the method embodiments. In some embodiments, functions or modules included in the apparatus provided by the embodiments of the present disclosure may be used to perform the methods described in the embodiments of the method, and for technical details not disclosed in the embodiments of the apparatus of the present disclosure, please understand with reference to the description of the embodiments of the method of the present disclosure.

It should be noted that, in the embodiment of the present disclosure, if the positioning method is implemented in the form of a software functional module, and is sold or used as a separate product, the positioning method may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present disclosure may be essentially or portions contributing to the related art, and the software product may be stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present disclosure are not limited to any specific hardware, software, or firmware, or any combination of the three.

The disclosed embodiments provide a server comprising a memory storing a computer program executable on the processor and a processor implementing some or all of the steps of the above method when the processor executes the program.

The disclosed embodiments provide a computer readable storage medium having stored thereon a computer program which when executed by a processor performs some or all of the steps of the above method. The computer readable storage medium may be transitory or non-transitory.

It should be noted here that: the above description of various embodiments is intended to emphasize the differences between the various embodiments, the same or similar features being referred to each other. The description of the server device, the storage medium, and the method embodiments described above are similar, with similar advantageous effects as the method embodiments. For technical details not disclosed in the server apparatus, the storage medium of the present disclosure, please refer to the description of the embodiments of the method of the present disclosure for understanding.

Fig. 6 is a schematic diagram of a hardware entity of a server according to an embodiment of the present disclosure, as shown in fig. 6, the hardware entity of the server 600 includes: a processor 601, a communication interface 602, and a memory 603, wherein:

the processor 601 generally controls the overall operation of the server 600.

The communication interface 602 may enable the server to communicate with other devices over a network.

The memory 603 is configured to store instructions and applications executable by the processor 601, and may also cache data (e.g., signal strength data, threshold values) to be processed or processed by various modules in the processor 601 and the server 600, which may be implemented by FLASH memory (FLASH) or random access memory (Random Access Memory, RAM). Data transfer may be performed between the processor 601, the communication interface 602, and the memory 603 via the bus 604.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Furthermore, in various embodiments of the present disclosure, the order of execution of the steps/processes described above does not imply any order of execution, and the order of execution of the steps/processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation of the embodiments of the present disclosure. The foregoing embodiment numbers of the present disclosure are merely for description and do not represent advantages or disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

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

In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

Or the integrated units of the present disclosure may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the present disclosure may be embodied essentially or in part in a form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The foregoing is merely an embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think about the changes or substitutions within the technical scope of the present disclosure, and should be covered by the protection scope of the present disclosure.

Claims

1. A method of positioning, the method comprising:

2. The method of claim 1, wherein the determining, in the plurality of gateway devices, the target gateway device to which the object to be located associated with each device identifier belongs according to the device identifier in each signal data, the signal strength, and the preset threshold value corresponding to each gateway device, includes:

3. The method according to claim 2, wherein the determining the target gateway device to which the target object to be located belongs according to the signal strength in the signal data of the gateway device to which the target object is initially attached, the second signal strength threshold value of the gateway device to which the target object is initially attached, and the signal strength in the signal data of each candidate gateway device, the first signal strength threshold value of each candidate gateway device, includes:

4. A method according to claim 3, wherein the determining the target gateway device to which the target object to be located belongs according to the signal strength in the signal data of the gateway device to which the target object is initially attached, the second signal strength threshold value of the gateway device to which the target object is initially attached, and the signal strength in the signal data of the target candidate gateway device and the first signal strength threshold value of the target candidate gateway device comprises:

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

6. The method of claim 1, wherein the plurality of gateway devices includes a first gateway device and a second gateway device, wherein the signal strength range determined based on the second signal strength threshold value of the first gateway device intersects the signal strength range determined based on the first signal strength threshold value of the second gateway device.

7. The method according to any one of claims 1 to 6, wherein,

The determining, according to the device identifier and the signal strength in each signal data and the preset threshold value corresponding to each gateway device, the target gateway device to which the object to be positioned associated with each device identifier belongs in the plurality of gateway devices includes:

8. The method of any of claims 1-6, wherein the object to be localized comprises an asset object.

9. The method according to any one of claims 1-6, wherein locating the object to be located with the preset location of the target gateway device to which the object to be located belongs comprises:

10. A positioning device, the device comprising:

11. A positioning system, the system comprising:

12. A server, the server comprising:

a memory for storing computer executable instructions;

a processor, coupled to the memory, for implementing the method of any one of claims 1 to 9 by executing the computer-executable instructions.

13. A computer storage medium having stored thereon computer executable instructions; the computer executable instructions, when executed by a processor, are capable of implementing the method of any one of claims 1 to 9.