CN118019103A

CN118019103A - Bluetooth mesh-based positioning method, system, equipment and medium

Info

Publication number: CN118019103A
Application number: CN202410195593.5A
Authority: CN
Inventors: 王建峰; 朱翔宇; 李洋; 金长新; 李锐; 魏子重
Original assignee: Shandong Inspur Science Research Institute Co Ltd; Shandong Inspur Innovation and Entrepreneurship Technology Co Ltd
Current assignee: Shandong Inspur Science Research Institute Co Ltd; Shandong Inspur Innovation and Entrepreneurship Technology Co Ltd
Priority date: 2024-02-22
Filing date: 2024-02-22
Publication date: 2024-05-10

Abstract

The invention discloses a positioning method, a system, equipment and a medium based on Bluetooth mesh, wherein the method comprises the following steps: configuring a Bluetooth ad hoc network; in the Bluetooth ad hoc network, bluetooth nodes are arranged, a routing protocol among the Bluetooth nodes is arranged, and data of the Bluetooth nodes are managed based on a cloud platform; performing coarse positioning operation based on a multi-fusion positioning algorithm by adopting a Bluetooth ad hoc network to obtain first positioning information; performing positioning area calculation based on RSSI according to the first positioning information to obtain second positioning information, and taking the second positioning information as a positioning result; the invention can provide positioning information for users in different application scenes based on the Bluetooth ad hoc network technology, improves the accuracy of the positioning information based on the cooperation processing of various algorithms, has higher positioning accuracy and expansibility, is easy to integrate and use, is not easy to interfere, has stronger robustness and applicability, and has higher application value.

Description

Bluetooth mesh-based positioning method, system, equipment and medium

Technical Field

The invention relates to the technical field of data processing, in particular to a positioning method, a system, equipment and a medium based on Bluetooth mesh, which are applied to the field of Bluetooth communication positioning.

Background

At present, along with the rapid development of the technology of the Internet of things, the demands of people on the refined indoor positioning technology are more and more urgent; however, based on the conventional positioning scheme, the positioning algorithm of the mobile terminal APP cannot provide accurate positioning information for users in various occasions, such as underground garages, shopping centers and the like.

In the above scenario, the conventional positioning algorithm can only provide the approximate azimuth or direction for the user, and cannot learn the accurate position information; in view of the foregoing, there is a need for more accurate positioning techniques that provide better services and experiences to users.

Disclosure of Invention

The invention aims to provide a positioning method, a positioning system, positioning equipment and a positioning medium based on Bluetooth mesh, so as to solve all or one of the problems in the prior art.

In order to solve the technical problems, the specific technical scheme of the invention is as follows:

In one aspect, the invention provides a positioning method based on Bluetooth mesh, which comprises the following steps:

Configuration:

Configuring a Bluetooth ad hoc network;

Setting Bluetooth nodes in the Bluetooth ad hoc network, setting a routing protocol among the Bluetooth nodes and managing data of the Bluetooth nodes based on a cloud platform;

Positioning processing:

performing coarse positioning operation based on a multi-fusion positioning algorithm by adopting the Bluetooth ad hoc network to obtain first positioning information;

and performing RSSI-based positioning area calculation according to the first positioning information to obtain second positioning information, and taking the second positioning information as a positioning result.

As an improved solution, the configuring the bluetooth ad hoc network includes:

Determining the number of Bluetooth nodes according to the area of the applied indoor environment;

performing Bluetooth node deployment in the indoor environment according to the number of Bluetooth nodes;

And forming the Bluetooth ad hoc network based on a Bluetooth gateway, a positioning base station and a plurality of Bluetooth nodes.

As an improved solution, the setting bluetooth node includes:

Adopting Bluetooth equipment with a plurality of signal coverage areas as the Bluetooth nodes; a number of said signal coverage areas comprising: a first range, a second range greater than the first range, and a third range greater than the second range;

the routing protocol is as follows:

Performing route screening based on a distance vector algorithm and a signal quality algorithm;

the cloud platform-based management of data of the Bluetooth node comprises:

After responding to the Bluetooth node setting, uploading UUID, RSSI and position information of the Bluetooth node to the cloud platform; and constructing a position mapping table for the Bluetooth node in the cloud platform, and storing UUID, RSSI and the position information of the Bluetooth node.

As an improved solution, the performing, by using the bluetooth ad hoc network, coarse positioning operation based on a multi-fusion positioning algorithm on a user to be positioned to obtain first positioning information includes:

responding to the situation that the user to be positioned enters the indoor environment, and judging whether a positioning request of the user to be positioned is received or not based on the Bluetooth ad hoc network;

and responding to the positioning request, and executing coarse positioning operation based on a TOA positioning algorithm, an AOA positioning algorithm, an RSSI distance positioning algorithm and a trilateration algorithm to obtain the first positioning information.

As an improvement, the coarse positioning operation includes:

Invoking the TOA positioning algorithm to confirm a target to be positioned;

invoking the AOA positioning algorithm to acquire a positioning reference angle about the target to be positioned;

Calling the RSSI distance positioning algorithm to acquire a positioning reference distance about the target to be positioned;

and calling the trilateration algorithm to calculate the first positioning information of the target to be positioned according to the positioning reference angle and the positioning reference distance.

As an improvement, the positioning area calculation based on RSSI includes:

measuring the signal RSSI in the area corresponding to the first positioning information;

Screening the area to be judged according to the intensity range of the measured signal;

responding to the area to be judged as a unique area, and setting the area to be judged as the second positioning information;

Responding to the non-unique areas of the areas to be judged, and acquiring a Bluetooth node preset RSSI range of each area to be judged; acquiring the signal receiving intensity of the mobile equipment of the user to be positioned for each Bluetooth node of each area to be judged; determining candidate nodes according to the preset RSSI range and the signal receiving intensity; taking the region to be judged where the candidate node is located as a candidate region; and screening corresponding candidate areas according to the signal receiving intensities of all the candidate nodes to serve as the second positioning information.

As an improved scheme, the positioning method based on bluetooth mesh further comprises:

When the RSSI signals are collected, a grid-based clustering algorithm and a density-based clustering algorithm are adopted for positioning correction.

On the other hand, the invention also provides a positioning system based on Bluetooth mesh, which comprises:

The configuration module is used for configuring the Bluetooth ad hoc network; the configuration module sets Bluetooth nodes in the Bluetooth ad hoc network, sets a routing protocol among the Bluetooth nodes and manages data of the Bluetooth nodes based on a cloud platform;

The positioning processing module is used for performing coarse positioning operation based on a multi-fusion positioning algorithm on a user to be positioned by adopting the Bluetooth ad hoc network to obtain first positioning information; and the positioning processing module executes positioning area calculation based on RSSI according to the first positioning information to obtain second positioning information, and takes the second positioning information as a positioning result.

In another aspect, the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the steps of the bluetooth mesh based positioning method.

In another aspect, the present invention further provides a computer device, where the computer device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus; wherein:

The memory is used for storing a computer program;

The processor is used for executing the steps of the positioning method based on the Bluetooth mesh by running the program stored on the memory.

The technical scheme of the invention has the beneficial effects that:

The positioning method based on the Bluetooth mesh can provide positioning information for users in different application scenes based on the Bluetooth ad hoc network technology, improves the accuracy of the positioning information based on the cooperation processing of a plurality of algorithms, has higher positioning accuracy and expansibility, is easy to integrate and use, is not easy to interfere, has stronger robustness and applicability, fills the gap of the prior art, and has higher application value.

The positioning system based on the Bluetooth mesh can provide positioning information for users in different application scenes based on the Bluetooth ad hoc network technology through the mutual matching of the configuration module and the positioning processing module, improves the accuracy of the positioning information based on the matching processing of various algorithms, has higher positioning accuracy and expansibility, is easy to integrate and use, is not easy to interfere, has stronger robustness and applicability, makes up the gap of the prior art, and has higher application value.

The computer readable storage medium can realize the coordination of the guiding configuration module and the positioning processing module, further realize the positioning method based on the Bluetooth mesh, and further effectively improve the operability of the positioning method based on the Bluetooth mesh.

The computer equipment can realize the storage and execution of the computer readable storage medium, thereby realizing the positioning method based on the Bluetooth mesh.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a positioning method based on bluetooth mesh according to embodiment 1 of the present invention;

fig. 2 is a schematic diagram of a model architecture of a bluetooth mesh in the positioning method based on the bluetooth mesh according to embodiment 1 of the present invention;

Fig. 3 is a flowchart illustrating an accurate position determining step based on RSSI in the bluetooth mesh based positioning method according to embodiment 1 of the present invention;

Fig. 4 is a schematic diagram of the architecture of a bluetooth mesh-based positioning system according to embodiment 2 of the present invention;

FIG. 5 is a schematic diagram of a computer device according to embodiment 4 of the present invention;

the labels in the drawings are illustrated as follows:

1501. A processor; 1502. a communication interface; 1503. a memory; 1504. a communication bus.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.

In the description of the present invention, it should be noted that the described embodiments of the present invention are some, but not all embodiments of the present invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.

In the description of the present invention, it should be noted that, RSSI is a method for evaluating the distance between a bluetooth MESH network node and a positioning target by receiving signal strength; RSSI calculates distance by transmitting and receiving signals for locating distances from different bluetooth nodes.

Example 1

The embodiment provides a positioning method based on Bluetooth mesh, as shown in fig. 1-3, comprising the following steps:

The method has the core functions of realizing tracking and positioning under various indoor scenes based on Bluetooth mesh node signals; in the method, other devices capable of sending Bluetooth signals, such as an LED lamp or iBeacon, are mainly arranged in an application place, the Bluetooth signals are sent out through the devices, and then information acquisition, such as signal intensity, communication quality and the like, is carried out on a mobile phone, a bracelet and other receiving ends which mainly comprise user equipment; and performing intelligent analysis processing based on the acquired signals to obtain the corresponding position information of the user.

As a preferred embodiment, the method comprises the following steps:

S100, configuration steps:

in this step, bluetooth ad hoc network configuration, bluetooth device configuration, setting of a corresponding routing protocol, and relevant data construction of a cloud platform are performed, which specifically includes:

In one implementation, a bluetooth ad hoc network configuration includes: measuring the applied indoor environment, and judging the number of required Bluetooth nodes according to the relation between the indoor environment area and the number of the Bluetooth nodes; according to the quantity, reasonably deploying the Bluetooth nodes in the corresponding indoor scene; for example, indoor lighting LED devices are used as Bluetooth nodes for auxiliary positioning, and Bluetooth ad hoc network chips are arranged in each lighting LED device, so that Bluetooth beacons can be prevented from being arranged independently, and deployment efficiency and cost are saved;

In one implementation, a configuration of a bluetooth device includes: connecting a plurality of terminals into a large Bluetooth network, connecting different devices by using a routing table, and realizing wireless data transmission, namely adopting a Bluetooth mesh ad hoc network; the self-networking construction is formed based on the Bluetooth mesh node beacon, the Bluetooth gateway and the independent positioning base station; as shown in fig. 2, the beacons of the same type node are selected as far as possible in the network to cover, so that interference is reduced, and the accuracy of a positioning result is improved; in order to improve the reliability of the method, three different Bluetooth devices are adopted to generate three different Bluetooth signals so as to ensure the positioning precision and accuracy and improve the application range of the method; the three Bluetooth devices are respectively: class 1, class 2, and class 3 devices; the signal coverage of the class 1 device is 50m (i.e., the first range), the signal coverage of the class 2 device is 10m (i.e., the second range), and the signal coverage of the class 3 device is 4m (i.e., the third range); according to Bluetooth equipment in different ranges, when different users enter corresponding model coverage areas, the users can be positioned;

in one implementation, the setting of the routing protocol includes: the method comprises the steps of carrying out route screening by integrating a plurality of algorithms such as distance vectors, signal quality (link state) and the like, and taking the route screening as a routing protocol of a Bluetooth mesh node; the distance vector algorithm decides a route path according to the distance of a destination, each node maintains a vector table, and the optimal distance from the current node to each target is listed in the table; each node can select a node which is closer to the target than the node itself as a forwarding route according to the corresponding vector table;

In one implementation, the building of relevant data of the cloud platform includes: after the Bluetooth node in the indoor environment is set, sending UUID, RSSI, the position and other information of the Bluetooth node to a nearest distance gateway through a Bluetooth mesh; the corresponding gateway uploads the received information to the cloud platform; and in the cloud platform, establishing a position mapping table of each Bluetooth mesh node in combination with the applied indoor scene, and correspondingly storing the received corresponding UUID, RSSI and other information according to the UUID information.

S200, positioning processing steps:

In the step, the positioning operation based on the user Bluetooth terminal is carried out on the user entering the indoor area based on the Bluetooth mesh ad hoc network; in a positioning operation, including but not limited to: judging a positioning request, roughly calculating a signal position, and judging the accurate position based on RSSI to finally obtain accurate positioning information of a user;

In one implementation, the determining of the location request includes: after a new Bluetooth terminal of a user enters an indoor environment, a Bluetooth node capable of receiving signals in a mesh network is called to send a message to a cloud platform, and the cloud platform judges whether to perform user positioning according to the situation that a positioning request of the node is received; wherein, judging the strange Bluetooth information which does not receive the positioning request; when judging that the positioning request from the user Bluetooth terminal is received, carrying out filtering pretreatment on the data; after preprocessing, the rough calculation and the accurate position judgment operation are executed, and finally, the relevant position information of the signal sending position is obtained;

In one implementation, the coarse calculation of the location includes: coarse positioning calculation is performed based on a time of arrival (TOA) positioning algorithm, an angle of arrival (AOA) positioning algorithm, an RSSI range positioning algorithm and a trilateration algorithm:

Specifically, the TOA positioning algorithm includes: transmitting wireless signals to measure unknown and known positions, and determining the unknown position (i.e. the target to be positioned) according to the signal arrival time difference between the unknown position and the known position;

Specifically, the AOA positioning algorithm includes: measuring the angle from the unknown position to two known reference points (namely positioning reference angles) to position the unknown position;

Specifically, the RSSI range location algorithm includes: estimating the distance (namely the positioning reference distance) between the Bluetooth mesh network node and the positioning target (unknown position) through the received signal strength;

Specifically, the trilateration algorithm includes: based on the angle information and the distance information between the unknown position and the known position, calculating the positioning information of the unknown position by adopting a trilateration positioning principle, wherein the obtained positioning information is a coarse calculation result (namely first positioning information);

In one implementation, the accurate position determination based on RSSI includes: based on the result of the rough positioning, the RSSI filtering algorithm is used for comprehensively judging the positioning point area; wherein, the signal in the rough positioning result area is measured; screening and judging a position area (namely an area to be judged) in a plane where the target equipment is located according to the intensity range of the measured signal (such as a preset RSSI range threshold value): and carrying out correlation analysis according to the number of the judging areas:

Specifically, when the determined area is unique, setting the area as a target position area of the Bluetooth terminal of the user;

Specifically, when the determined areas are not unique, acquiring a preset RSSI range (namely a maximum value-minimum value of signal strength) of each Bluetooth node corresponding to each determined area; in the embodiment, defining the RSSI range of the Kth Bluetooth mesh node in the ith area as (Max-Min); then positioning is carried out based on the range, the signal intensity of each Bluetooth mesh node in each judging area is received through target mobile equipment (user Bluetooth terminal), and the received signal intensity of the Kth Bluetooth mesh node is defined as RSSk; if Min is less than or equal to RSSk and less than or equal to Max, taking the area corresponding to the node (namely the candidate node) as a candidate area; carrying out the analysis on each Bluetooth mesh node in each judging area, and finally obtaining a plurality of or unique candidate areas; and judging RSSk the candidate area with the maximum value as the final area (namely second positioning information) of the target mobile equipment, and finishing the positioning operation.

In one implementation manner, when the positioning operation is executed, since signals are easily interfered by other electromagnetic wave signals during the acquisition of the RSSI signals, in order to improve positioning accuracy, a reasonable positioning algorithm is selected to execute the RSSI signal anti-interference operation: in the embodiment, a clustering algorithm based on grids and density is combined to perform positioning correction; the method comprises the steps of adopting a grid-based algorithm to rapidly detect vertical and horizontal boundaries, then processing data through a density-based clustering algorithm, and then performing basic positioning judgment;

In one implementation, when the positioning operation is executed, a bluetooth direction finding function is adopted when the positioning direction is judged; the method comprises the steps of receiving signals through a smart phone (or other low-power-consumption receivers), and sending special data packets when active antennas arranged in a displaying way are switched through low-power-consumption transmitters in cooperation with original positioning beacons; and positioning an IQ sample in a signal received by the target Bluetooth receiver, and performing data calculation according to antenna arrangement in the transmitter to finally obtain the relative direction of the signal.

In conclusion, the method realizes accurate positioning operation based on the Bluetooth mesh ad hoc network in the indoor environment, further improves the applicability and application range of the positioning operation based on the characteristics of small size, few interference factors and strong expansibility of the Bluetooth equipment, and has higher application value.

Example 2

The present embodiment provides a positioning system based on bluetooth mesh, based on the same inventive concept as the positioning method based on bluetooth mesh described in embodiment 1, as shown in fig. 4, including:

In the system, the configuration of the Bluetooth ad hoc network comprises the following steps: the configuration module determines the number of Bluetooth nodes according to the area of the applied indoor environment; the configuration module deploys Bluetooth nodes in the indoor environment according to the quantity of the Bluetooth nodes; the configuration module forms the Bluetooth ad hoc network based on a Bluetooth gateway, a positioning base station and a plurality of Bluetooth nodes.

In this system, the setting bluetooth node includes: the configuration module adopts Bluetooth equipment with a plurality of signal coverage areas as the Bluetooth nodes; a number of said signal coverage areas comprising: a first range, a second range greater than the first range, and a third range greater than the second range;

in the present system, the routing protocol is: performing route screening based on a distance vector algorithm and a signal quality algorithm;

In the system, the cloud platform-based management of the data of the bluetooth node includes: after the configuration module responds to the Bluetooth node setting, UUID, RSSI and position information of the Bluetooth node are uploaded to the cloud platform; and the configuration module builds a position mapping table for the Bluetooth node in the cloud platform and stores UUID, RSSI and the position information of the Bluetooth node.

The positioning processing module is used for performing coarse positioning operation based on a multi-fusion positioning algorithm on a user to be positioned by adopting the Bluetooth ad hoc network to obtain first positioning information; the positioning processing module executes positioning area calculation based on RSSI according to the first positioning information to obtain second positioning information, and the second positioning information is used as a positioning result;

In the system, the performing coarse positioning operation based on a multi-fusion positioning algorithm by using the Bluetooth ad hoc network to the user to be positioned to obtain first positioning information includes: the positioning processing module responds to the fact that the user to be positioned enters the indoor environment to which the positioning processing module is applied, and judges whether a positioning request of the user to be positioned is received or not based on the Bluetooth ad hoc network; and the positioning processing module responds to the positioning request, and performs coarse positioning operation based on a TOA positioning algorithm, an AOA positioning algorithm, an RSSI distance positioning algorithm and a trilateration algorithm to obtain the first positioning information.

In the present system, the coarse positioning operation includes: the positioning processing module calls the TOA positioning algorithm to confirm the target to be positioned; the positioning processing module calls the AOA positioning algorithm to acquire a positioning reference angle about the target to be positioned; the positioning processing module calls the RSSI distance positioning algorithm to acquire a positioning reference distance about the target to be positioned; and the positioning processing module calls the trilateration algorithm to calculate the first positioning information of the target to be positioned according to the positioning reference angle and the positioning reference distance.

In the present system, the positioning area calculation based on RSSI includes: the positioning processing module measures the signal RSSI in the area corresponding to the first positioning information; the positioning processing module screens the area to be judged according to the intensity range of the measured signal; the positioning processing module responds to the to-be-judged area as a unique area and sets the to-be-judged area as the second positioning information; the positioning processing module responds to the non-unique areas of the areas to be judged, and obtains a Bluetooth node preset RSSI range of each area to be judged; the positioning processing module acquires the signal receiving intensity of the mobile equipment of the user to be positioned for each Bluetooth node of each area to be judged; the positioning processing module determines candidate nodes according to the preset RSSI range and the signal receiving intensity; the positioning processing module takes the region to be judged where the candidate node is located as a candidate region; and the positioning processing module screens the corresponding candidate areas as the second positioning information according to the signal receiving intensities of all the candidate nodes.

In the system, further comprising: when the positioning processing module collects RSSI signals, the positioning processing module adopts a grid-based clustering algorithm and a density-based clustering algorithm to carry out positioning correction.

Example 3

The present embodiment provides a computer-readable storage medium including:

The storage medium is used for storing computer software instructions for implementing the bluetooth mesh-based positioning method described in the above embodiment 1, and includes a program for executing the above program set for the bluetooth mesh-based positioning method; specifically, the executable program may be built in the bluetooth mesh-based positioning system described in embodiment 2, so that the bluetooth mesh-based positioning system may implement the bluetooth mesh-based positioning method described in embodiment 1 by executing the built-in executable program.

Further, the computer readable storage medium provided in the present embodiment may be any combination of one or more readable storage media, where the readable storage media includes an electric, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof.

Example 4

The present embodiment provides an electronic device, as shown in fig. 5, which may include: the device comprises a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 are in communication with each other through the communication bus 1504.

A memory 1503 for storing a computer program;

a processor 1501, when executing the computer program stored in the memory 1503, implements the steps of the bluetooth mesh-based positioning method described in the above embodiment 1.

As an embodiment of the present invention, the communication bus mentioned by the above-mentioned terminal may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.

As an embodiment of the present invention, a communication interface is used for communication between the terminal and other devices.

The memory may include random access memory (Random Access Memory, simply RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory, as an embodiment of the present invention. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an embodiment of the present invention, the above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), and the like; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Compared with the prior art, the positioning method, the system, the device and the medium based on the Bluetooth mesh can provide positioning information for users in different application scenes based on the Bluetooth ad hoc network technology, and improve the accuracy of the positioning information based on the cooperation processing of various algorithms, so that the positioning method, the system, the device and the medium based on the Bluetooth mesh have higher positioning accuracy and expansibility, are easy to integrate and use, are not easy to interfere, have stronger robustness and applicability, make up the gap of the prior art, and have higher application value.

It should be understood that, in the various embodiments herein, the sequence number of each process described above does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments herein.

It should also be understood that in embodiments herein, the term "and/or" is merely one relationship that describes an associated object, meaning that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.

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

In addition, each functional unit in the embodiments herein may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions herein are essentially or portions contributing to the prior art, or all or portions of the technical solutions may be embodied in the 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 steps of the methods described in the embodiments herein. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims

1. The positioning method based on the Bluetooth mesh is characterized by comprising the following steps of:

Configuration:

Configuring a Bluetooth ad hoc network;

Positioning processing:

2. The positioning method based on bluetooth mesh according to claim 1, wherein:

The configuration bluetooth ad hoc network comprises:

3. The positioning method based on bluetooth mesh according to claim 1, wherein:

the setting bluetooth node includes:

the routing protocol is as follows:

the cloud platform-based management of data of the Bluetooth node comprises:

4. The positioning method based on bluetooth mesh according to claim 2, wherein:

The adoption of the Bluetooth ad hoc network to perform coarse positioning operation based on a multi-fusion positioning algorithm on a user to be positioned to obtain first positioning information comprises the following steps:

5. The positioning method based on bluetooth mesh according to claim 4, wherein:

The coarse positioning operation includes:

Invoking the TOA positioning algorithm to confirm a target to be positioned;

6. The positioning method based on bluetooth mesh according to claim 1, wherein:

the RSSI-based positioning area calculation includes:

7. The positioning method based on bluetooth mesh according to claim 1, wherein:

The positioning method based on the Bluetooth mesh further comprises the following steps:

8. A bluetooth mesh-based positioning system, comprising:

9. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the bluetooth mesh based positioning method according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, the memory complete communication with each other through the communication bus; wherein:

The memory is used for storing a computer program;

The processor is configured to execute the steps of the bluetooth mesh-based positioning method according to any one of claims 1 to 7 by running a program stored in the memory.