WO2019071775A1 - Node positioning method, server, system and computer-readable storage medium - Google Patents

Node positioning method, server, system and computer-readable storage medium Download PDF

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Publication number
WO2019071775A1
WO2019071775A1 PCT/CN2017/115024 CN2017115024W WO2019071775A1 WO 2019071775 A1 WO2019071775 A1 WO 2019071775A1 CN 2017115024 W CN2017115024 W CN 2017115024W WO 2019071775 A1 WO2019071775 A1 WO 2019071775A1
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WO
WIPO (PCT)
Prior art keywords
node
nodes
server
signal strength
signal
Prior art date
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PCT/CN2017/115024
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French (fr)
Chinese (zh)
Inventor
黄兴鲁
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深圳数位传媒科技有限公司
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Publication of WO2019071775A1 publication Critical patent/WO2019071775A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Definitions

  • the present invention relates to the field of positioning technologies, and in particular, to a node positioning method, a server, a system, and a computer readable storage medium.
  • the traditional positioning technology is to locate a single target node, and does not consider the positional relationship between the target node and other nodes. It can be seen that the existing positioning technology adopts a single point positioning method, and different node positions cannot be mutually referred to each other, and a node relationship network between different nodes cannot be established, and the user cannot quickly according to the location information of any node. Get location information to other different nodes.
  • the main object of the present invention is to provide a node positioning method, a server, a system, and a computer readable storage medium, which are aimed at solving the technical problem that the location information of other nodes cannot be quickly obtained according to the location information of any node.
  • an embodiment of the present invention provides a node positioning method, where the node positioning method includes:
  • the server receives the signal identifiers of all nodes and the signal strength between all nodes within a preset range and other nodes;
  • the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
  • the server builds an association location network between all nodes based on the association relationship between all nodes.
  • the step of determining, by the server, the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes includes:
  • the server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second signal identifier of the second node corresponding to the maximum signal strength according to the signal strength between the first node and the other node;
  • the server Obtaining, by the server, the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node according to the signal strength between the first node and the second node and other nodes;
  • the server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
  • the second signal identifier includes a second coordinate of the second node
  • the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength comprises:
  • the server obtains a maximum signal strength in signal strength between the first node and other nodes
  • the server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node
  • the server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
  • the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node includes:
  • the server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
  • the server acquires a third signal identifier of the third node.
  • the step of the server performing average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and setting the node corresponding to the average signal strength maximum value as the third node includes:
  • the server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
  • the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
  • the third signal identifier includes a third coordinate of the third node
  • the step of the server acquiring the third signal identifier of the third node includes:
  • the server calculates a second distance between the third node and the first node
  • the server calculates a third distance between the third node and the second node
  • the server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  • the node positioning method further includes:
  • the server sends the associated positioning network to any node for the node to call the complete associated positioning network.
  • an embodiment of the present invention provides a server, where the server includes:
  • a receiving module configured to receive, by the server, a signal identifier of all nodes and a signal strength between all nodes within a preset range and other nodes;
  • a determining module configured by the server to determine an association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
  • an embodiment of the present invention provides a node positioning system, where the node positioning system includes a node and a server.
  • the node sends the signal identifier of the node and the signal strength between the set and other nodes to the server;
  • the node receives and displays an associated positioning network sent by the server;
  • the server receives signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
  • the server constructs an association positioning network between all nodes according to an association relationship between all nodes
  • the server sends the associated positioning network to any node for the node to invoke the complete associated positioning network.
  • embodiments of the present invention provide a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors For:
  • the server receives the signal identifiers of all nodes and the signal strength between all nodes within a preset range and other nodes;
  • the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
  • the server builds an association location network between all nodes based on the association relationship between all nodes.
  • the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes.
  • the invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
  • FIG. 1 is a schematic flowchart of a first embodiment of a node positioning method according to the present invention
  • FIG. 2 is a schematic flowchart of determining a relationship between all nodes according to a signal identifier of all nodes and a signal strength between all nodes and other nodes in the first embodiment of the node positioning method according to the present invention
  • FIG. 3 is a block diagram of a server of the present invention.
  • FIG. 4 is a schematic structural diagram of a system for a node positioning method according to the present invention.
  • FIG. 5 is a schematic structural diagram of a device in a hardware operating environment according to a method according to an embodiment of the present invention.
  • the present invention provides a node locating method.
  • the node locating method includes:
  • Step S10 the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes;
  • the node may be a mobile terminal or a fixed terminal, and may collect a node signal existing in a preset range by using a wireless signal.
  • different nodes also transmit wireless signals in real time in order to be collected by other nodes to achieve mutual sensing.
  • the wireless signal may be an infrared signal, a Bluetooth signal, a WiFi signal, or the like.
  • Each node has a signal identifier specific to the node itself.
  • the signal identifier can be a number, a password, a geographic coordinate, and so on. All nodes send their own signal identification and the signal identification of the other nodes collected to the server with the signal strength between them.
  • the server receives the signal identification of all the nodes themselves and the signal strength between all the nodes collected in the preset range and other nodes in real time, and uploads each node to the server's own signal identification and collected and other
  • the signal strengths between the nodes are respectively stored in the storage unit of the server, and are used as reference data for establishing the association relationship of the nodes.
  • Step S20 the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
  • the server calculates and determines the association relationship between all nodes according to the signal strength between the received and saved nodes and other nodes. According to the signal attenuation model, the server can calculate the actual distance between different nodes, and according to the signal strength and actual distance between different nodes, the server can determine the location information of each node, and cache the location information of each determined node. . After the location information of each node is determined, the server can obtain the association relationship between all nodes.
  • the association relationship refers to a direct association or an indirect association relationship between all nodes.
  • node 1 and node 2 belong to adjacent nodes, then node 1 and node 2 are direct associations; node 1 and node 3 are separated by node 2, that is, node 1 and node 2 are adjacent nodes, node 2 Node 3 and node 3 are adjacent nodes.
  • node 1 and node 3 are indirect associations.
  • Node 1 may not acquire the signal identifier of node 3 and the corresponding signal strength because node 3 is not in the acquisition area within the preset range of node 1.
  • the server detects the signal identification of the node 3 and the signal strength between each other through the node 2, thereby determining the position information of the node 3, and determines the node by integrating the actual position information between the node 1 and the node 2 and the node 3. 1. The actual association between node 2 and node 3.
  • the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes, including:
  • Step S21 The server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second node corresponding to the maximum value of the signal strength according to the signal strength between the first node and the other node.
  • the server may set any node as the first node, and determine the signal identifier of the first node according to the node signal identifier stored in the storage unit.
  • the server may detect the signals of all other normal nodes within the preset range according to the first node, and determine the distance between the other nodes and the first node by the magnitude of the signal strength or the strength of the connection.
  • the value of the current signal strength is filtered, and the node corresponding to the maximum signal strength is located, and is set as the second node. Since the second node is collected by the first node, the second signal identifier of the node is also acquired by the first node and stored in the storage unit of the server, which can be directly called.
  • the second signal identifier includes a second coordinate of the second node, and the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength may be refined as:
  • the server obtains a maximum signal strength in signal strength between the first node and other nodes
  • the server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node
  • the server filters out the maximum signal strength among all the signal strengths detected by the first node, determines the second node corresponding to the maximum signal strength, and calculates the first distance between the first node and the second node.
  • the first distance can be calculated by the signal attenuation model.
  • the server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
  • the server In order to obtain the association relationship between the nodes, the server needs to calculate the coordinates of the acquired node.
  • the server sets the first node as the first coordinate, and the coordinate may be the origin, or may be other specific data coordinates.
  • the server determines the relative coordinates between the second node and the first node according to the first distance, with reference to the first coordinate, thereby determining the second coordinate of the second node. For example, assuming that the first node is the origin and the coordinates are (x0, y0), the second node coordinate can be set to (x1, y1), where y1 is equal to y0, and the value of x1 can be the value of the first distance, thereby determining The second coordinate of the second node.
  • Step S22 The server acquires, according to the signal strength between the first node and the second node and other nodes, a third signal identifier of the third node that has the largest average signal strength value of the first node and the second node;
  • the server Since the server simultaneously stores the signal strengths of other nodes collected by the first node and the second node within a preset range, there may be some among the other nodes detected by the first node and the second node.
  • the server may filter out the candidate nodes that are in the best connection state with the signal strengths of the first node and the second node by using the signal strengths of the different nodes to be selected and the first node and the second node, and the connection state is optimal. Clicking a node can be obtained by quantifying the average signal strength value. By calculating an average signal strength value of each candidate node and the first node and the second node, determining that the candidate node with the largest average signal strength value is the third node, and acquiring the third signal identifier of the third node.
  • the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node may be refined as:
  • the server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
  • This step can be refined to:
  • Step a the server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
  • the average signal strength of the candidate node can be obtained by calculating the signal strengths of the first node and the second node.
  • the server first obtains the signal strength A1 of the candidate node detected by the first node and the signal strength A2 of the first node detected by the candidate node, and averages the signal strengths A1 and A2.
  • Step b When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained, and is set as the third node.
  • the average signal strength of all the selected nodes and the first node and the second node is obtained by calculating respectively for all the nodes to be selected, and in the calculated average signal strength, the server can filter the average signal strength maximum, and The average signal strength maximum determines the corresponding candidate node and sets it as the third node.
  • the server acquires a third signal identifier of the third node.
  • Step c the server calculates a second distance between the third node and the first node
  • Step d the server calculates a third distance between the third node and the second node
  • step e the server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  • the server needs to use the first node and the second node to jointly calculate the third coordinate that is accurate for the third node.
  • the server can determine the angle formed between any node in the triangle and the other two nodes by a functional relationship such as the three sides of the triangle.
  • the third coordinate of the third node of the server setting is (x2, y2), and the operation is performed by a mathematical trigonometric function according to the first distance a, the second distance b, the third distance c, and the angular relationship of the three sides a, b, and c. Therefore, the specific value of the third coordinate of the third node can be obtained, thereby obtaining the exact third coordinate (x2, y2).
  • Step S23 the server determines, according to the first signal identifier, the second signal identifier, the third signal identifier, and the signal strength between the first node, the second node, and the third node, the first node, the second node, and the third node. Relationship between
  • step S24 the server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
  • the server may determine different node objects according to the first signal identifier, the second signal identifier, and the third signal identifier, and according to the signal strength between the first node, the second node, and the third node, the position between the nodes may be inferred Distance information between the information and the node, thereby obtaining an association relationship between the first node, the second node, and the third node.
  • the first node can determine the approximate range of the third node, and the first The two nodes can also determine the approximate range of the third node, and the intersection of the approximate ranges determined by the two nodes is the true location information of the third node.
  • the first node, the second node, and the third node may form a certain node area, that is, the server may acquire an association relationship between the first node, the second node, and the third node.
  • the server may loop the foregoing steps based on the node area determined by the first node, the second node, and the third node, and use any two nodes as the first node and the second node to determine the association relationship of all the nodes in the server.
  • step S30 the server constructs an association positioning network between all nodes according to the association relationship between all nodes.
  • the server can construct the associated positioning network between all the nodes by using the structural association diagram.
  • the position information of all nodes can be presented on the coordinate axis, and the architectural map is associated based on the visualization of all nodes on the coordinate axes, thereby constructing a complete association between all nodes.
  • the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes.
  • the invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
  • the second embodiment of the method for locating the node of the present invention is proposed.
  • the difference between the method and the foregoing embodiment is that the method for locating the node further includes:
  • the server sends the associated positioning network to any node for the node to call the complete associated positioning network.
  • the server After the server completes the process of constructing the associated positioning network, the associated location information of all current nodes is cached in the server storage end. At this time, the server may send specific information of the associated positioning network to any node, so that any node in the associated positioning network can acquire location information of all nodes except the preset range of the node, thereby calling or displaying. Complete association with the positioning network to achieve information sharing.
  • the present invention provides a server.
  • the server includes:
  • the receiving module 10 is configured to receive signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
  • the node may be a mobile terminal or a fixed terminal, and may collect a node signal existing in a preset range by using a wireless signal.
  • different nodes also transmit wireless signals in real time in order to be collected by other nodes to achieve mutual sensing.
  • the wireless signal may be an infrared signal, a Bluetooth signal, a WiFi signal, or the like.
  • Each node has a signal identifier specific to the node itself.
  • the signal identifier can be a number, a password, a geographic coordinate, and so on. All nodes send their own signal identification and the signal identification of the other nodes collected to the server with the signal strength between them.
  • the server receives the signal identification of all the nodes themselves and the signal strength between all the nodes collected in the preset range and other nodes in real time, and uploads each node to the server's own signal identification and collected and other
  • the signal strengths between the nodes are respectively stored in the storage unit of the server, and are used as reference data for establishing the association relationship of the nodes.
  • a determining module 20 configured to determine an association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
  • the server calculates and determines the association relationship between all nodes according to the signal strength between the received and saved nodes and other nodes. According to the signal attenuation model, the server can calculate the actual distance between different nodes, and according to the signal strength and actual distance between different nodes, the server can determine the location information of each node, and cache the location information of each determined node. . After the location information of each node is determined, the server can obtain the association relationship between all nodes.
  • the association relationship refers to a direct association or an indirect association relationship between all nodes.
  • node 1 and node 2 belong to adjacent nodes, then node 1 and node 2 are direct associations; node 1 and node 3 are separated by node 2, that is, node 1 and node 2 are adjacent nodes, node 2 Node 3 and node 3 are adjacent nodes.
  • node 1 and node 3 are indirect associations.
  • Node 1 may not acquire the signal identifier of node 3 and the corresponding signal strength because node 3 is not in the acquisition area within the preset range of node 1.
  • the server detects the signal identification of the node 3 and the signal strength between each other through the node 2, thereby determining the position information of the node 3, and determines the node by integrating the actual position information between the node 1 and the node 2 and the node 3. 1. The actual association between node 2 and node 3.
  • the building module 30 is configured to construct an association positioning network between all nodes according to an association relationship between all nodes.
  • the server can construct the associated positioning network between all the nodes by using the structural association diagram.
  • the position information of all nodes can be presented on the coordinate axis, and the architectural map is associated based on the visualization of all nodes on the coordinate axes, thereby constructing a complete association between all nodes.
  • the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes.
  • the invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
  • FIG. 4 is a schematic diagram of a system architecture of the present invention
  • FIG. 5 is a schematic structural diagram of a hardware operating environment involved in the method according to an embodiment of the present invention.
  • the terminal in the embodiment of the present invention may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, an intelligent power source, a smart router, or a mobile terminal, including a smart phone and a wearable networked AR/VR device. , smart speakers, self-driving cars and many other connected devices.
  • IoT smart device including a smart home such as a smart air conditioner, a smart light, an intelligent power source, a smart router, or a mobile terminal, including a smart phone and a wearable networked AR/VR device.
  • smart phones including a smart phone and a wearable networked AR/VR device.
  • smart speakers self-driving cars and many other connected devices.
  • the architecture design of the node positioning system includes a node and a server.
  • the device structure may include a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002.
  • the communication bus 1002 is used to implement connection communication between the processor 1001 and the memory 1005.
  • the memory 1005 may be a high speed RAM memory or a stable memory (non-volatile) Memory), such as disk storage.
  • the memory 1005 can also optionally be a storage device independent of the aforementioned processor 1001.
  • the node positioning system may further include a user interface, a network interface, a camera, and an RF (Radio) Frequency, RF) circuits, sensors, audio circuits, WiFi modules, and more.
  • the user interface may include a display, a touch screen, a camera (including an AR/VR device), etc., and the optional user interface may also include a standard wired interface and a wireless interface.
  • the network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface, a probe interface, a 3G/4G/5G network communication interface, etc.).
  • node positioning system structure shown in FIG. 5 does not constitute a limitation of the node positioning system, and may include more or less components than those illustrated, or combine some components or different components. Arrangement.
  • an operating system As shown in FIG. 5, an operating system, a network communication module, and a node locating program may be included in the memory 1005 as a computer storage medium.
  • the operating system is a program that manages and controls the node's positioning system hardware and software resources, supporting the operation of node locators and other software and/or programs.
  • the network communication module is used to implement communication between components within the memory 1005 and with other hardware and software in the node location system.
  • the processor 1001 is configured to execute a node locating program stored in the memory 1005, and implement the following steps:
  • the node sends the signal identifier of the node and the signal strength between the set and other nodes to the server;
  • the node receives and displays an associated positioning network sent by the server;
  • the server receives signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
  • the server constructs an association positioning network between all nodes according to an association relationship between all nodes
  • the server sends the associated positioning network to any node for the node to invoke the complete associated positioning network.
  • the step of determining, by the server, the association relationship between all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes includes:
  • the server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second signal identifier of the second node corresponding to the maximum signal strength according to the signal strength between the first node and the other node;
  • the server Obtaining, by the server, the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node according to the signal strength between the first node and the second node and other nodes;
  • the server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
  • the second signal identifier includes a second coordinate of the second node
  • the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength includes:
  • the server obtains a maximum signal strength in signal strength between the first node and other nodes
  • the server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node
  • the server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
  • the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node includes:
  • the server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
  • the server acquires a third signal identifier of the third node.
  • the step of the server performing average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and setting the node corresponding to the average signal strength maximum value as the third node includes:
  • the server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
  • the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
  • the third signal identifier includes a third coordinate of the third node
  • the step of the 222 server acquiring the third signal identifier of the third node includes:
  • the server calculates a second distance between the third node and the first node
  • the server calculates a third distance between the third node and the second node
  • the server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  • the node positioning method further includes:
  • the server sends the associated positioning network to any node for the node to call the complete associated positioning network.
  • the present invention provides a computer readable storage medium having stored one or more programs, the one or more programs being further executable by one or more processors for implementing the above The steps of the node positioning method.
  • the specific embodiment of the computer readable storage medium of the present invention is basically the same as the foregoing embodiment of the node locating method, and details are not described herein again.
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a plurality of instructions for causing a terminal device (which may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, a smart power source, a smart router, or the like; or a mobile terminal, including a smart device.
  • a terminal device which may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, a smart power source, a smart router, or the like; or a mobile terminal, including a smart device.
  • a number of networked devices such as cell phones, wearable networked AR/VR devices, smart speakers, self-driving cars, and the like, perform the methods described in various embodiments of the present invention.

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Abstract

Disclosed are a node positioning method, a server, a system and a computer-readable storage medium. The terminal node positioning method comprises: a server receiving signal identifiers of all nodes and signal strengths between all the nodes within a preset range and the other nodes; the server determining an association relationship of all the nodes according to the signal identifiers of all the nodes and the signal strengths between all the nodes and the other nodes; and the server constructing an associated positioning network among all the nodes according to the association relationship among all the nodes. According to the present invention, a chain positioning reference network between different signal nodes is built, and mutual reference between different signal nodes is achieved, such that a user can quickly acquire and position, by means of any signal node, to position information about any other signal node.

Description

节点定位方法、服务器、系统及计算机可读存储介质  Node positioning method, server, system and computer readable storage medium
技术领域Technical field
本发明涉及定位技术领域，尤其涉及一种节点定位方法、服务器、系统及计算机可读存储介质。The present invention relates to the field of positioning technologies, and in particular, to a node positioning method, a server, a system, and a computer readable storage medium.
背景技术Background technique
随着定位技术的快速发展，现如今人们可通过对目标节点进行定位，从而快速获取到目标节点的具体位置。With the rapid development of positioning technology, people can now quickly locate the specific location of the target node by locating the target node.
传统的定位技术，是对单一目标节点进行定位，并没有考虑到该目标节点与其他节点之间的位置联系。由此可知，现有的定位技术采用的是单点定位的方式，不同节点位置之间不能相互参照，无法建立起不同节点之间的节点关系网络，用户无法根据任一节点的位置信息，快速获取到其他不同节点的位置信息。The traditional positioning technology is to locate a single target node, and does not consider the positional relationship between the target node and other nodes. It can be seen that the existing positioning technology adopts a single point positioning method, and different node positions cannot be mutually referred to each other, and a node relationship network between different nodes cannot be established, and the user cannot quickly according to the location information of any node. Get location information to other different nodes.
发明内容Summary of the invention
本发明的主要目的在于提供一种节点定位方法、服务器、系统及计算机可读存储介质，旨在解决无法根据任一节点的位置信息，快速获取到其他不同节点的位置信息的技术问题。The main object of the present invention is to provide a node positioning method, a server, a system, and a computer readable storage medium, which are aimed at solving the technical problem that the location information of other nodes cannot be quickly obtained according to the location information of any node.
为实现上述目的，本发明实施例提供一种节点定位方法，所述节点定位方法包括：To achieve the above object, an embodiment of the present invention provides a node positioning method, where the node positioning method includes:
服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives the signal identifiers of all nodes and the signal strength between all nodes within a preset range and other nodes;
服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；The server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。The server builds an association location network between all nodes based on the association relationship between all nodes.
优选地，所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系的步骤包括：Preferably, the step of determining, by the server, the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes includes:
服务器设任一节点为第一节点，获取第一节点的第一信号标识，并根据第一节点与其他节点之间的信号强度，获取信号强度最大值对应的第二节点的第二信号标识；The server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second signal identifier of the second node corresponding to the maximum signal strength according to the signal strength between the first node and the other node;
服务器根据第一节点和第二节点与其他节点之间的信号强度，获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识；Obtaining, by the server, the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node according to the signal strength between the first node and the second node and other nodes;
服务器根据第一信号标识、第二信号标识、第三信号标识以及第一节点、第二节点和第三节点之间的信号强度，确定第一节点、第二节点和第三节点之间的关联关系；Determining, by the server, the association between the first node, the second node, and the third node according to the first signal identifier, the second signal identifier, the third signal identifier, and the signal strength between the first node, the second node, and the third node relationship;
服务器将任意两个节点设为第一节点和第二节点，循环上述步骤，以确定所有节点的关联关系。The server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
优选地，所述第二信号标识包括第二节点的第二坐标，所述获取信号强度最大值对应的第二节点的第二信号标识的步骤包括：Preferably, the second signal identifier includes a second coordinate of the second node, and the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength comprises:
服务器获取第一节点与其他节点之间的信号强度中的信号强度最大值；The server obtains a maximum signal strength in signal strength between the first node and other nodes;
服务器计算并获取第一节点与信号强度最大值对应的第二节点之间的第一距离；The server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node;
服务器设第一节点为第一坐标，根据信号强度最大值和第一距离进行计算，以获取第二节点的第二坐标。The server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
优选地，所述获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识的步骤包括：Preferably, the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node includes:
服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点；The server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
服务器获取第三节点的第三信号标识。The server acquires a third signal identifier of the third node.
优选地，所述服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点的步骤包括：Preferably, the step of the server performing average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and setting the node corresponding to the average signal strength maximum value as the third node includes:
服务器根据第一节点与待选节点之间的信号强度、第二节点与待选节点之间的信号强度，计算获取待选节点与第一节点和第二节点的平均信号强度；The server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
当服务器获取到所有待选节点的平均信号强度时，获取平均信号强度最大值对应的节点，并设为第三节点。When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
优选地，所述第三信号标识包括第三节点的第三坐标，所述服务器获取第三节点的第三信号标识的步骤包括：Preferably, the third signal identifier includes a third coordinate of the third node, and the step of the server acquiring the third signal identifier of the third node includes:
服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
优选地，所述节点定位方法还包括：Preferably, the node positioning method further includes:
服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to call the complete associated positioning network.
为实现上述目的，本发明实施例提供一种服务器，所述服务器包括：To achieve the above objective, an embodiment of the present invention provides a server, where the server includes:
接收模块，用于服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；a receiving module, configured to receive, by the server, a signal identifier of all nodes and a signal strength between all nodes within a preset range and other nodes;
确定模块，用于服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；a determining module, configured by the server to determine an association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
构建模块，用于服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。A building module for the server to construct an associated positioning network between all nodes according to the relationship between all nodes.
为实现上述目的，本发明实施例提供一种节点定位系统，所述节点定位系统包括节点和服务器，To achieve the above objective, an embodiment of the present invention provides a node positioning system, where the node positioning system includes a node and a server.
所述节点将节点的信号标识以及在设范围内与其他节点之间的信号强度发送至服务器；The node sends the signal identifier of the node and the signal strength between the set and other nodes to the server;
所述节点接收并显示服务器发送的关联定位网路；The node receives and displays an associated positioning network sent by the server;
所述服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；Determining, by the server, the association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
所述服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络；The server constructs an association positioning network between all nodes according to an association relationship between all nodes;
所述服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to invoke the complete associated positioning network.
为实现上述目的，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有一个或者一个以上程序，所述一个或者一个以上程序可被一个或者一个以上的处理器执行以用于：To achieve the above objective, embodiments of the present invention provide a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors For:
服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives the signal identifiers of all nodes and the signal strength between all nodes within a preset range and other nodes;
服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；The server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。The server builds an association location network between all nodes based on the association relationship between all nodes.
本发明的技术方案中，服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。本发明建立了不同信号节点之间的链式定位参照网络，实现了不同信号节点之间的相互参照，使得用户能够通过任一信号节点，快速获取并定位到其他任一信号节点的位置信息。In the technical solution of the present invention, the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes. The invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
附图说明DRAWINGS
图1为本发明节点定位方法第一实施例的流程示意图；1 is a schematic flowchart of a first embodiment of a node positioning method according to the present invention;
图2为本发明节点定位方法第一实施例中服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系的流程示意图；2 is a schematic flowchart of determining a relationship between all nodes according to a signal identifier of all nodes and a signal strength between all nodes and other nodes in the first embodiment of the node positioning method according to the present invention;
图3为本发明服务器的一模块示意图；3 is a block diagram of a server of the present invention;
图4为本发明节点定位方法一系统架构示意图；4 is a schematic structural diagram of a system for a node positioning method according to the present invention;
图5为本发明实施例方法涉及的硬件运行环境的设备结构示意图。FIG. 5 is a schematic structural diagram of a device in a hardware operating environment according to a method according to an embodiment of the present invention.
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.
具体实施方式Detailed ways
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
本发明提供一种节点定位方法，在节点定位方法第一实施例中，参照图1，所述节点定位方法包括：The present invention provides a node locating method. In the first embodiment of the node locating method, referring to FIG. 1, the node locating method includes:
步骤S10，服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；Step S10, the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes;
在本实施例中，节点可以是移动终端，也可以是固定终端，可通过无线信号采集到周围预设范围内存在的节点信号。同时，不同的节点之间也实时向外发射无线信号，以便被其他节点采集，达到相互感知的目的。所述无线信号可以是红外信号、蓝牙信号、WiFi信号等等。每一个节点都拥有一个专属于节点本身的信号标识，该信号标识可以是一个编号，可以是一段口令，可以是一个地理坐标等等。所有节点将自身的信号标识以及采集到的其他节点的信号标识以彼此之间的信号强度发送至服务器。In this embodiment, the node may be a mobile terminal or a fixed terminal, and may collect a node signal existing in a preset range by using a wireless signal. At the same time, different nodes also transmit wireless signals in real time in order to be collected by other nodes to achieve mutual sensing. The wireless signal may be an infrared signal, a Bluetooth signal, a WiFi signal, or the like. Each node has a signal identifier specific to the node itself. The signal identifier can be a number, a password, a geographic coordinate, and so on. All nodes send their own signal identification and the signal identification of the other nodes collected to the server with the signal strength between them.
而服务器则实时接收所有节点自身的信号标识以及采集到的所有节点在预设范围内与其他节点之间的信号强度，并将每个节点上传发送至服务器的自身信号标识以及采集到的与其他节点之间的信号强度分别保存在服务器的存储单元中，以作后续建立节点关联关系的参考数据。The server receives the signal identification of all the nodes themselves and the signal strength between all the nodes collected in the preset range and other nodes in real time, and uploads each node to the server's own signal identification and collected and other The signal strengths between the nodes are respectively stored in the storage unit of the server, and are used as reference data for establishing the association relationship of the nodes.
步骤S20，服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；Step S20, the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
服务器根据接收和保存的节点与其他节点之间的信号强度，计算确定所有节点之间的关联关系。根据信号衰减模型，服务器可以测算出不同节点之间的实际距离，而根据不同节点之间的信号强度以及实际距离，服务器可以确定各个节点的位置信息，并将各个已确定各个节点的位置信息缓存。各个节点的位置信息确定之后，服务器即可获得所有节点之间的关联关系。The server calculates and determines the association relationship between all nodes according to the signal strength between the received and saved nodes and other nodes. According to the signal attenuation model, the server can calculate the actual distance between different nodes, and according to the signal strength and actual distance between different nodes, the server can determine the location information of each node, and cache the location information of each determined node. . After the location information of each node is determined, the server can obtain the association relationship between all nodes.
所述关联关系指的是所有节点之间的直接关联关系或间接关联关系。例如，节点1和节点2属于相邻节点，那么节点1和节点2即为直接关联关系；而节点1和节点3中间间隔着节点2，即节点1和节点2互为相邻节点，节点2和节点3互为相邻节点，此时，节点1和节点3即为间接关联关系。节点1可能由于节点3没有处于节点1预设范围内的采集区域内，从而没有采集到节点3的信号标识和以及对应的信号强度。但是，服务器通过节点2检测到节点3的信号标识以及彼此之间的信号强度，从而确定节点3的位置信息，而通过整合节点1和节点2以及节点3之间的实际位置信息，从而确定节点1、节点2和节点3之间的实际关联关系。The association relationship refers to a direct association or an indirect association relationship between all nodes. For example, node 1 and node 2 belong to adjacent nodes, then node 1 and node 2 are direct associations; node 1 and node 3 are separated by node 2, that is, node 1 and node 2 are adjacent nodes, node 2 Node 3 and node 3 are adjacent nodes. In this case, node 1 and node 3 are indirect associations. Node 1 may not acquire the signal identifier of node 3 and the corresponding signal strength because node 3 is not in the acquisition area within the preset range of node 1. However, the server detects the signal identification of the node 3 and the signal strength between each other through the node 2, thereby determining the position information of the node 3, and determines the node by integrating the actual position information between the node 1 and the node 2 and the node 3. 1. The actual association between node 2 and node 3.
具体地，参照图2，所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系的步骤包括：Specifically, referring to FIG. 2, the server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes, including:
步骤S21，服务器设任一节点为第一节点，获取第一节点的第一信号标识，并根据第一节点与其他节点之间的信号强度，获取信号强度最大值对应的第二节点的第二信号标识；Step S21: The server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second node corresponding to the maximum value of the signal strength according to the signal strength between the first node and the other node. Signal identification
服务器可将任一节点设置为第一节点，并根据存储单元中所保存的节点信号标识，确定第一节点的信号标识。服务器可根据第一节点检测到在预设范围内的其他所有正常节点的信号，通过信号强度的大小确定其他节点与第一节点的距离远近或连接强弱。同时根据第一节点所采集到的与其他节点之间的信号强度，筛选出当前信号强度最大的数值，并定位到与信号强度最大值对应的节点，将其设置为第二节点。由于第二节点被第一节点所采集到，故该节点的第二信号标识同样被第一节点获取，保存在服务器的存储单元中，可直接调用。The server may set any node as the first node, and determine the signal identifier of the first node according to the node signal identifier stored in the storage unit. The server may detect the signals of all other normal nodes within the preset range according to the first node, and determine the distance between the other nodes and the first node by the magnitude of the signal strength or the strength of the connection. At the same time, according to the signal strength between the other nodes collected by the first node, the value of the current signal strength is filtered, and the node corresponding to the maximum signal strength is located, and is set as the second node. Since the second node is collected by the first node, the second signal identifier of the node is also acquired by the first node and stored in the storage unit of the server, which can be directly called.
所述第二信号标识包括第二节点的第二坐标，所述获取信号强度最大值对应的第二节点的第二信号标识的步骤可细化为：The second signal identifier includes a second coordinate of the second node, and the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength may be refined as:
服务器获取第一节点与其他节点之间的信号强度中的信号强度最大值；The server obtains a maximum signal strength in signal strength between the first node and other nodes;
服务器计算并获取第一节点与信号强度最大值对应的第二节点之间的第一距离；The server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node;
服务器筛选出第一节点所检测到的所有信号强度中的信号强度最大值，确定该信号强度最大值对应的第二节点，并计算获取到第一节点与第二节点之间的第一距离。其中第一距离可通过信号衰减模型计算获得。The server filters out the maximum signal strength among all the signal strengths detected by the first node, determines the second node corresponding to the maximum signal strength, and calculates the first distance between the first node and the second node. The first distance can be calculated by the signal attenuation model.
服务器设第一节点为第一坐标，根据信号强度最大值和第一距离进行计算，以获取第二节点的第二坐标。The server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
为获取到各节点之间的关联关系，服务器需计算获取到节点的坐标。在本实施例中，服务器设第一节点为第一坐标，该坐标可以是原点，也可以是其他具体数据坐标。服务器根据第一距离，以第一坐标为参考，可确定第二节点与第一节点之间的相对坐标，从而确定第二节点的第二坐标。例如，假设第一节点为原点，坐标为（x0,y0），则第二节点坐标可设为（x1，y1），其中y1等于y0，而x1的值可为第一距离的数值，从而确定第二节点的第二坐标。In order to obtain the association relationship between the nodes, the server needs to calculate the coordinates of the acquired node. In this embodiment, the server sets the first node as the first coordinate, and the coordinate may be the origin, or may be other specific data coordinates. The server determines the relative coordinates between the second node and the first node according to the first distance, with reference to the first coordinate, thereby determining the second coordinate of the second node. For example, assuming that the first node is the origin and the coordinates are (x0, y0), the second node coordinate can be set to (x1, y1), where y1 is equal to y0, and the value of x1 can be the value of the first distance, thereby determining The second coordinate of the second node.
步骤S22，服务器根据第一节点和第二节点与其他节点之间的信号强度，获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识；Step S22: The server acquires, according to the signal strength between the first node and the second node and other nodes, a third signal identifier of the third node that has the largest average signal strength value of the first node and the second node;
由于服务器同时保存了第一节点和第二节点在预设范围内所采集到的其其他节点的信号强度，因此在第一节点与第二节点所检测到的其他节点之中，可能存在着若干同时被第一节点和第二节点检测到的待选节点。服务器可通过不同待选节点与第一节点和第二节点的信号强度，筛选出同时与第一节点和第二节点的信号强度处于连接状态最优的待选节点，所述连接状态最优的点选节点可通过平均信号强度值的量化来获取。通过计算各个待选节点与第一节点和第二节点的平均信号强度值，确定平均信号强度值最大的待选节点为第三节点，并获取到第三节点的第三信号标识。Since the server simultaneously stores the signal strengths of other nodes collected by the first node and the second node within a preset range, there may be some among the other nodes detected by the first node and the second node. The candidate node that is detected by the first node and the second node at the same time. The server may filter out the candidate nodes that are in the best connection state with the signal strengths of the first node and the second node by using the signal strengths of the different nodes to be selected and the first node and the second node, and the connection state is optimal. Clicking a node can be obtained by quantifying the average signal strength value. By calculating an average signal strength value of each candidate node and the first node and the second node, determining that the candidate node with the largest average signal strength value is the third node, and acquiring the third signal identifier of the third node.
具体地，所述获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识的步骤可细化为：Specifically, the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node may be refined as:
服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点；The server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
该步骤可细化为：This step can be refined to:
步骤a，服务器根据第一节点与待选节点之间的信号强度、第二节点与待选节点之间的信号强度，计算获取待选节点与第一节点和第二节点的平均信号强度；Step a, the server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
所述待选节点的平均信号强度可通过与第一节点和第二节点的信号强度进行计算获得。优选的，本实施例中，服务器先获取第一节点检测到的待选节点的信号强度A1和待选节点检测到的第一节点的信号强度A2，将信号强度A1和A2进行平均计算获得第一节点和待选节点的稳定强度A，例如A=（A1+A2）/2；同理服务器可计算并获得第二节点和待选节点的稳定强度B。此时，服务器可对A和B进行平均计算获得待选节点同时与第一节点和第二节点的平均信号强度C，例如C=（A+B）/2。The average signal strength of the candidate node can be obtained by calculating the signal strengths of the first node and the second node. Preferably, in this embodiment, the server first obtains the signal strength A1 of the candidate node detected by the first node and the signal strength A2 of the first node detected by the candidate node, and averages the signal strengths A1 and A2. The stability strength A of a node and the candidate node, for example, A = (A1 + A2) / 2; the same server can calculate and obtain the stability strength B of the second node and the candidate node. At this time, the server may perform an average calculation on A and B to obtain an average signal strength C of the candidate node simultaneously with the first node and the second node, for example, C=(A+B)/2.
步骤b，当服务器获取到所有待选节点的平均信号强度时，获取平均信号强度最大值对应的节点，并设为第三节点。Step b: When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained, and is set as the third node.
通过对所有待选节点分别进行计算获取所有待选节点与第一节点和第二节点的平均信号强度，而在所计算获得的平均信号强度中，服务器可筛选出平均信号强度最大值，并由平均信号强度最大值确定对应的待选节点，并将其设置为第三节点。The average signal strength of all the selected nodes and the first node and the second node is obtained by calculating respectively for all the nodes to be selected, and in the calculated average signal strength, the server can filter the average signal strength maximum, and The average signal strength maximum determines the corresponding candidate node and sets it as the third node.
服务器获取第三节点的第三信号标识。The server acquires a third signal identifier of the third node.
步骤c，服务器计算第三节点与第一节点的第二距离；Step c, the server calculates a second distance between the third node and the first node;
步骤d，服务器计算第三节点与第二节点的第三距离；Step d, the server calculates a third distance between the third node and the second node;
步骤e，服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。In step e, the server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
服务器需利用第一节点和第二节点，共同计算获取第三节点准确的第三坐标。设第一距离为a，根据信号衰减模型，服务器可计算获取到第三节点与第一节点的第二距离b，以及第三节点与第二节点的第三距离c。The server needs to use the first node and the second node to jointly calculate the third coordinate that is accurate for the third node. Let the first distance be a, according to the signal attenuation model, the server may calculate the second distance b of the third node and the first node, and the third distance c of the third node and the second node.
可以理解的是，当第一节点、第二节点和第三节点之间的距离确定，那么由第一节点、第二节点和第三节点将形成固定的三角形节点区域。通过三角形三边的函数关系等服务器可确定三角形中任一节点与其他两个节点之间所形成的角度。It can be understood that when the distance between the first node, the second node and the third node is determined, a fixed triangular node area will be formed by the first node, the second node and the third node. The server can determine the angle formed between any node in the triangle and the other two nodes by a functional relationship such as the three sides of the triangle.
服务器设置第三节点的第三坐标为（x2，y2），并根据第一距离a、第二距离b、第三距离c以及a、b、c三边的角度关系，通过数学三角函数进行运算，从而可获取到第三节点第三坐标的具体数值，从而获取到确切的第三坐标（x2，y2）。The third coordinate of the third node of the server setting is (x2, y2), and the operation is performed by a mathematical trigonometric function according to the first distance a, the second distance b, the third distance c, and the angular relationship of the three sides a, b, and c. Therefore, the specific value of the third coordinate of the third node can be obtained, thereby obtaining the exact third coordinate (x2, y2).
步骤S23，服务器根据第一信号标识、第二信号标识、第三信号标识以及第一节点、第二节点和第三节点之间的信号强度，确定第一节点、第二节点和第三节点之间的关联关系；Step S23, the server determines, according to the first signal identifier, the second signal identifier, the third signal identifier, and the signal strength between the first node, the second node, and the third node, the first node, the second node, and the third node. Relationship between
步骤S24，服务器将任意两个节点设为第一节点和第二节点，循环上述步骤，以确定所有节点的关联关系。In step S24, the server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
服务器可根据第一信号标识、第二信号标识和第三信号标识确定不同的节点对象，而根据第一节点、第二节点和第三节点之间的信号强度，可推算出节点之间的位置信息和节点之间的距离信息，从而获取到第一节点、第二节点和第三节点之间的关联关系。The server may determine different node objects according to the first signal identifier, the second signal identifier, and the third signal identifier, and according to the signal strength between the first node, the second node, and the third node, the position between the nodes may be inferred Distance information between the information and the node, thereby obtaining an association relationship between the first node, the second node, and the third node.
不同节点之间的信号强度不同，意味着节点之间的距离也不相同，而第一节点和第二节点同时检测到第三节点，那么第一节点可确定第三节点的大致范围，而第二节点也可确定第三节点的大致范围，而两个节点所确定的大致范围的交集处即为第三节点真实的位置信息。此时，第一节点、第二节点和第三节点可形成一个确定的节点区域，即服务器可获取到第一节点、第二节点和第三节点之间的关联关系。Different signal strengths between different nodes mean that the distance between nodes is different, and the first node and the second node simultaneously detect the third node, then the first node can determine the approximate range of the third node, and the first The two nodes can also determine the approximate range of the third node, and the intersection of the approximate ranges determined by the two nodes is the true location information of the third node. At this time, the first node, the second node, and the third node may form a certain node area, that is, the server may acquire an association relationship between the first node, the second node, and the third node.
服务器可基于第一节点、第二节点和第三节点确定的节点区域，以任意两个节点为第一节点和第二节点，循环上述步骤，从而确定服务器中所有节点的关联关系。The server may loop the foregoing steps based on the node area determined by the first node, the second node, and the third node, and use any two nodes as the first node and the second node to determine the association relationship of all the nodes in the server.
步骤S30，服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。In step S30, the server constructs an association positioning network between all nodes according to the association relationship between all nodes.
服务器在获取到所有节点之间的关联关系后，可将所有节点的关联关系以结构性的关联架构图构建出所有节点之间的关联定位网络。在已知所有节点的位置信息的情形下，可将各节点的位置信息呈现在坐标轴上，并基于所有节点在坐标轴上的可视化关联架构图，从而构建完整的所有节点之间的关联定位网络。After obtaining the association relationship between all the nodes, the server can construct the associated positioning network between all the nodes by using the structural association diagram. In the case where the position information of all nodes is known, the position information of each node can be presented on the coordinate axis, and the architectural map is associated based on the visualization of all nodes on the coordinate axes, thereby constructing a complete association between all nodes. The internet.
本发明的技术方案中，服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。本发明建立了不同信号节点之间的链式定位参照网络，实现了不同信号节点之间的相互参照，使得用户能够通过任一信号节点，快速获取并定位到其他任一信号节点的位置信息。In the technical solution of the present invention, the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes. The invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
进一步地，在本发明节点定位方法第一实施例的基础上，提出本发明节点定位方法第二实施例，与前述实施例的区别在于，所述节点定位方法还包括：Further, based on the first embodiment of the node locating method of the present invention, the second embodiment of the method for locating the node of the present invention is proposed. The difference between the method and the foregoing embodiment is that the method for locating the node further includes:
服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to call the complete associated positioning network.
服务器在完成构建关联定位网络的流程之后，在服务器存储端内缓存有当前所有节点的关联位置信息。此时，服务器可将关联定位网络的具体信息发送至任一节点，以便该关联定位网络中的任一节点能够获取到该节点预设范围之外的其他所有节点的位置信息，从而调用或显示完整的关联定位网络，实现信息共享。After the server completes the process of constructing the associated positioning network, the associated location information of all current nodes is cached in the server storage end. At this time, the server may send specific information of the associated positioning network to any node, so that any node in the associated positioning network can acquire location information of all nodes except the preset range of the node, thereby calling or displaying. Complete association with the positioning network to achieve information sharing.
本发明提供了一种服务器，参照图3，所述服务器包括：The present invention provides a server. Referring to FIG. 3, the server includes:
接收模块10，用于接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The receiving module 10 is configured to receive signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
在本实施例中，节点可以是移动终端，也可以是固定终端，可通过无线信号采集到周围预设范围内存在的节点信号。同时，不同的节点之间也实时向外发射无线信号，以便被其他节点采集，达到相互感知的目的。所述无线信号可以是红外信号、蓝牙信号、WiFi信号等等。每一个节点都拥有一个专属于节点本身的信号标识，该信号标识可以是一个编号，可以是一段口令，可以是一个地理坐标等等。所有节点将自身的信号标识以及采集到的其他节点的信号标识以彼此之间的信号强度发送至服务器。In this embodiment, the node may be a mobile terminal or a fixed terminal, and may collect a node signal existing in a preset range by using a wireless signal. At the same time, different nodes also transmit wireless signals in real time in order to be collected by other nodes to achieve mutual sensing. The wireless signal may be an infrared signal, a Bluetooth signal, a WiFi signal, or the like. Each node has a signal identifier specific to the node itself. The signal identifier can be a number, a password, a geographic coordinate, and so on. All nodes send their own signal identification and the signal identification of the other nodes collected to the server with the signal strength between them.
而服务器则实时接收所有节点自身的信号标识以及采集到的所有节点在预设范围内与其他节点之间的信号强度，并将每个节点上传发送至服务器的自身信号标识以及采集到的与其他节点之间的信号强度分别保存在服务器的存储单元中，以作后续建立节点关联关系的参考数据。The server receives the signal identification of all the nodes themselves and the signal strength between all the nodes collected in the preset range and other nodes in real time, and uploads each node to the server's own signal identification and collected and other The signal strengths between the nodes are respectively stored in the storage unit of the server, and are used as reference data for establishing the association relationship of the nodes.
确定模块20，用于根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；a determining module 20, configured to determine an association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
服务器根据接收和保存的节点与其他节点之间的信号强度，计算确定所有节点之间的关联关系。根据信号衰减模型，服务器可以测算出不同节点之间的实际距离，而根据不同节点之间的信号强度以及实际距离，服务器可以确定各个节点的位置信息，并将各个已确定各个节点的位置信息缓存。各个节点的位置信息确定之后，服务器即可获得所有节点之间的关联关系。The server calculates and determines the association relationship between all nodes according to the signal strength between the received and saved nodes and other nodes. According to the signal attenuation model, the server can calculate the actual distance between different nodes, and according to the signal strength and actual distance between different nodes, the server can determine the location information of each node, and cache the location information of each determined node. . After the location information of each node is determined, the server can obtain the association relationship between all nodes.
所述关联关系指的是所有节点之间的直接关联关系或间接关联关系。例如，节点1和节点2属于相邻节点，那么节点1和节点2即为直接关联关系；而节点1和节点3中间间隔着节点2，即节点1和节点2互为相邻节点，节点2和节点3互为相邻节点，此时，节点1和节点3即为间接关联关系。节点1可能由于节点3没有处于节点1预设范围内的采集区域内，从而没有采集到节点3的信号标识和以及对应的信号强度。但是，服务器通过节点2检测到节点3的信号标识以及彼此之间的信号强度，从而确定节点3的位置信息，而通过整合节点1和节点2以及节点3之间的实际位置信息，从而确定节点1、节点2和节点3之间的实际关联关系。The association relationship refers to a direct association or an indirect association relationship between all nodes. For example, node 1 and node 2 belong to adjacent nodes, then node 1 and node 2 are direct associations; node 1 and node 3 are separated by node 2, that is, node 1 and node 2 are adjacent nodes, node 2 Node 3 and node 3 are adjacent nodes. In this case, node 1 and node 3 are indirect associations. Node 1 may not acquire the signal identifier of node 3 and the corresponding signal strength because node 3 is not in the acquisition area within the preset range of node 1. However, the server detects the signal identification of the node 3 and the signal strength between each other through the node 2, thereby determining the position information of the node 3, and determines the node by integrating the actual position information between the node 1 and the node 2 and the node 3. 1. The actual association between node 2 and node 3.
构建模块30，用于根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。The building module 30 is configured to construct an association positioning network between all nodes according to an association relationship between all nodes.
服务器在获取到所有节点之间的关联关系后，可将所有节点的关联关系以结构性的关联架构图构建出所有节点之间的关联定位网络。在已知所有节点的位置信息的情形下，可将各节点的位置信息呈现在坐标轴上，并基于所有节点在坐标轴上的可视化关联架构图，从而构建完整的所有节点之间的关联定位网络。After obtaining the association relationship between all the nodes, the server can construct the associated positioning network between all the nodes by using the structural association diagram. In the case where the position information of all nodes is known, the position information of each node can be presented on the coordinate axis, and the architectural map is associated based on the visualization of all nodes on the coordinate axes, thereby constructing a complete association between all nodes. The internet.
本发明的技术方案中，服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。本发明建立了不同信号节点之间的链式定位参照网络，实现了不同信号节点之间的相互参照，使得用户能够通过任一信号节点，快速获取并定位到其他任一信号节点的位置信息。In the technical solution of the present invention, the server receives the signal identifier of all nodes and the signal strength between all nodes in the preset range and other nodes; the server identifies the signal strength of all nodes and the signal strength between all nodes and other nodes, Determine the association relationship of all nodes; the server constructs an association positioning network between all nodes according to the relationship between all nodes. The invention establishes a chain positioning reference network between different signal nodes, and realizes mutual reference between different signal nodes, so that the user can quickly acquire and locate the position information of any other signal node through any signal node.
参照图4和图5，图4是本发明的系统架构示意图，图5是本发明实施例方法涉及的硬件运行环境的设备结构示意图。4 and FIG. 5, FIG. 4 is a schematic diagram of a system architecture of the present invention, and FIG. 5 is a schematic structural diagram of a hardware operating environment involved in the method according to an embodiment of the present invention.
本发明实施例终端可以是固定终端，如物联网智能设备，包括智能空调、智能电灯、智能电源、智能路由器等智能家居；也可以是移动终端，包括智能手机、可穿戴的联网AR/VR装置、智能音箱、自动驾驶汽车等诸多联网设备。The terminal in the embodiment of the present invention may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, an intelligent power source, a smart router, or a mobile terminal, including a smart phone and a wearable networked AR/VR device. , smart speakers, self-driving cars and many other connected devices.
如图5所示，该节点定位系统的架构设计包括节点和服务器，其设备结构可以包括：处理器1001，例如CPU，存储器1005，通信总线1002。其中，通信总线1002用于实现处理器1001和存储器1005之间的连接通信。存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile memory），例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。As shown in FIG. 5, the architecture design of the node positioning system includes a node and a server. The device structure may include a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to implement connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high speed RAM memory or a stable memory (non-volatile) Memory), such as disk storage. The memory 1005 can also optionally be a storage device independent of the aforementioned processor 1001.
可选地，该节点定位系统还可以包括用户接口、网络接口、摄像头、RF（Radio Frequency，射频）电路，传感器、音频电路、WiFi模块等等。用户接口可以包括显示屏（Display）、触摸屏、摄像头（包括AR/VR设备）等，可选用户接口还可以包括标准的有线接口、无线接口。网络接口可选的可以包括标准的有线接口、无线接口（如WI-FI接口、蓝牙接口、探针接口、3G/4G/5G联网通信接口等）。Optionally, the node positioning system may further include a user interface, a network interface, a camera, and an RF (Radio) Frequency, RF) circuits, sensors, audio circuits, WiFi modules, and more. The user interface may include a display, a touch screen, a camera (including an AR/VR device), etc., and the optional user interface may also include a standard wired interface and a wireless interface. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface, a probe interface, a 3G/4G/5G network communication interface, etc.).
本领域技术人员可以理解，图5中示出的节点定位系统结构并不构成对节点定位系统的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。It will be understood by those skilled in the art that the node positioning system structure shown in FIG. 5 does not constitute a limitation of the node positioning system, and may include more or less components than those illustrated, or combine some components or different components. Arrangement.
如图5所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块以及节点定位程序。操作系统是管理和控制节点定位系统硬件和软件资源的程序，支持节点定位程序以及其它软件和/或程序的运行。网络通信模块用于实现存储器1005内部各组件之间的通信，以及与节点定位系统中其它硬件和软件之间通信。As shown in FIG. 5, an operating system, a network communication module, and a node locating program may be included in the memory 1005 as a computer storage medium. The operating system is a program that manages and controls the node's positioning system hardware and software resources, supporting the operation of node locators and other software and/or programs. The network communication module is used to implement communication between components within the memory 1005 and with other hardware and software in the node location system.
在图5所示的节点定位系统中，处理器1001用于执行存储器1005中存储的节点定位程序，实现以下步骤：In the node locating system shown in FIG. 5, the processor 1001 is configured to execute a node locating program stored in the memory 1005, and implement the following steps:
所述节点将节点的信号标识以及在设范围内与其他节点之间的信号强度发送至服务器；The node sends the signal identifier of the node and the signal strength between the set and other nodes to the server;
所述节点接收并显示服务器发送的关联定位网路；The node receives and displays an associated positioning network sent by the server;
所述服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；Determining, by the server, the association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
所述服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络；The server constructs an association positioning network between all nodes according to an association relationship between all nodes;
所述服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to invoke the complete associated positioning network.
进一步地，所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系的步骤包括：Further, the step of determining, by the server, the association relationship between all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes includes:
服务器设任一节点为第一节点，获取第一节点的第一信号标识，并根据第一节点与其他节点之间的信号强度，获取信号强度最大值对应的第二节点的第二信号标识；The server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second signal identifier of the second node corresponding to the maximum signal strength according to the signal strength between the first node and the other node;
服务器根据第一节点和第二节点与其他节点之间的信号强度，获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识；Obtaining, by the server, the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node according to the signal strength between the first node and the second node and other nodes;
服务器根据第一信号标识、第二信号标识、第三信号标识以及第一节点、第二节点和第三节点之间的信号强度，确定第一节点、第二节点和第三节点之间的关联关系；Determining, by the server, the association between the first node, the second node, and the third node according to the first signal identifier, the second signal identifier, the third signal identifier, and the signal strength between the first node, the second node, and the third node relationship;
服务器将任意两个节点设为第一节点和第二节点，循环上述步骤，以确定所有节点的关联关系。The server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
进一步地，所述第二信号标识包括第二节点的第二坐标，所述获取信号强度最大值对应的第二节点的第二信号标识的步骤包括：Further, the second signal identifier includes a second coordinate of the second node, and the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength includes:
服务器获取第一节点与其他节点之间的信号强度中的信号强度最大值；The server obtains a maximum signal strength in signal strength between the first node and other nodes;
服务器计算并获取第一节点与信号强度最大值对应的第二节点之间的第一距离；The server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node;
服务器设第一节点为第一坐标，根据信号强度最大值和第一距离进行计算，以获取第二节点的第二坐标。The server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
进一步地，所述获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识的步骤包括：Further, the step of acquiring the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node includes:
服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点；The server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
服务器获取第三节点的第三信号标识。The server acquires a third signal identifier of the third node.
进一步地，所述服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点的步骤包括：Further, the step of the server performing average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and setting the node corresponding to the average signal strength maximum value as the third node includes:
服务器根据第一节点与待选节点之间的信号强度、第二节点与待选节点之间的信号强度，计算获取待选节点与第一节点和第二节点的平均信号强度；The server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
当服务器获取到所有待选节点的平均信号强度时，获取平均信号强度最大值对应的节点，并设为第三节点。When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
进一步地，所述第三信号标识包括第三节点的第三坐标，所述222服务器获取第三节点的第三信号标识的步骤包括：Further, the third signal identifier includes a third coordinate of the third node, and the step of the 222 server acquiring the third signal identifier of the third node includes:
服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
进一步地，所述节点定位方法还包括：Further, the node positioning method further includes:
服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to call the complete associated positioning network.
本发明提供了一种计算机可读存储介质，所述计算机可读存储介质存储有一个或者一个以上程序，所述一个或者一个以上程序还可被一个或者一个以上的处理器执行以用于实现上述所述的节点定位方法的步骤。The present invention provides a computer readable storage medium having stored one or more programs, the one or more programs being further executable by one or more processors for implementing the above The steps of the node positioning method.
本发明计算机可读存储介质具体实施方式与上述节点定位方法各实施例基本相同，在此不再赘述。The specific embodiment of the computer readable storage medium of the present invention is basically the same as the foregoing embodiment of the node locating method, and details are not described herein again.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端设备（可以是固定终端，如物联网智能设备，包括智能空调、智能电灯、智能电源、智能路由器等智能家居；也可以是移动终端，包括智能手机、可穿戴的联网AR/VR装置、智能音箱、自动驾驶汽车等诸多联网设备）执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a plurality of instructions for causing a terminal device (which may be a fixed terminal, such as an IoT smart device, including a smart home such as a smart air conditioner, a smart light, a smart power source, a smart router, or the like; or a mobile terminal, including a smart device. A number of networked devices, such as cell phones, wearable networked AR/VR devices, smart speakers, self-driving cars, and the like, perform the methods described in various embodiments of the present invention.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (15)

  1. 一种节点定位方法，其特征在于，所述节点定位方法包括： A method for locating a node, the method for locating a node includes:
    服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives the signal identifiers of all nodes and the signal strength between all nodes within a preset range and other nodes;
    服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；The server determines the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes;
    服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。The server builds an association location network between all nodes based on the association relationship between all nodes.
  2. 如权利要求1所述的节点定位方法，其特征在于，所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系的步骤包括：The node locating method according to claim 1, wherein the step of determining, by the server, the association relationship of all nodes according to the signal identifier of all nodes and the signal strength between all nodes and other nodes comprises:
    服务器设任一节点为第一节点，获取第一节点的第一信号标识，并根据第一节点与其他节点之间的信号强度，获取信号强度最大值对应的第二节点的第二信号标识；The server sets any node as the first node, acquires the first signal identifier of the first node, and obtains the second signal identifier of the second node corresponding to the maximum signal strength according to the signal strength between the first node and the other node;
    服务器根据第一节点和第二节点与其他节点之间的信号强度，获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识；Obtaining, by the server, the third signal identifier of the third node that has the largest average signal strength value of the first node and the second node according to the signal strength between the first node and the second node and other nodes;
    服务器根据第一信号标识、第二信号标识、第三信号标识以及第一节点、第二节点和第三节点之间的信号强度，确定第一节点、第二节点和第三节点之间的关联关系；Determining, by the server, the association between the first node, the second node, and the third node according to the first signal identifier, the second signal identifier, the third signal identifier, and the signal strength between the first node, the second node, and the third node relationship;
    服务器将任意两个节点设为第一节点和第二节点，循环上述步骤，以确定所有节点的关联关系。The server sets any two nodes as the first node and the second node, and loops the above steps to determine the association relationship of all the nodes.
  3. 如权利要求2所述的节点定位方法，其特征在于，所述第二信号标识包括第二节点的第二坐标，所述获取信号强度最大值对应的第二节点的第二信号标识的步骤包括：The node locating method according to claim 2, wherein the second signal identifier comprises a second coordinate of the second node, and the step of acquiring the second signal identifier of the second node corresponding to the maximum value of the signal strength comprises :
    服务器获取第一节点与其他节点之间的信号强度中的信号强度最大值；The server obtains a maximum signal strength in signal strength between the first node and other nodes;
    服务器计算并获取第一节点与信号强度最大值对应的第二节点之间的第一距离；The server calculates and acquires a first distance between the second node corresponding to the maximum value of the signal strength of the first node;
    服务器设第一节点为第一坐标，根据信号强度最大值和第一距离进行计算，以获取第二节点的第二坐标。The server sets the first node as the first coordinate, and calculates according to the maximum signal strength and the first distance to obtain the second coordinate of the second node.
  4. 如权利要求3所述的节点定位方法，其特征在于，所述获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识的步骤包括：The node locating method according to claim 3, wherein the step of acquiring the third signal identifier of the third node having the largest average signal strength value of the first node and the second node comprises:
    服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点；The server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
    服务器获取第三节点的第三信号标识。The server acquires a third signal identifier of the third node.
  5. 如权利要求2所述的节点定位方法，其特征在于，所述获取与第一节点和第二节点的平均信号强度值最大的第三节点的第三信号标识的步骤包括：The node locating method according to claim 2, wherein the step of acquiring the third signal identifier of the third node having the largest average signal strength value of the first node and the second node comprises:
    服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点；The server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and sets a node corresponding to the maximum value of the average signal strength as the third node;
    服务器获取第三节点的第三信号标识。The server acquires a third signal identifier of the third node.
  6. 如权利要求5所述的节点定位方法，其特征在于，所述服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点的步骤包括：The node locating method according to claim 5, wherein the server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and corresponds to the maximum value of the average signal strength. The steps for setting the node to the third node include:
    服务器根据第一节点与待选节点之间的信号强度、第二节点与待选节点之间的信号强度，计算获取待选节点与第一节点和第二节点的平均信号强度；The server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
    当服务器获取到所有待选节点的平均信号强度时，获取平均信号强度最大值对应的节点，并设为第三节点。When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
  7. 如权利要求4所述的节点定位方法，其特征在于，所述服务器将第一节点和第二节点共同检测到的所有待选节点分别进行平均信号强度计算，并将平均信号强度最大值对应的节点设为第三节点的步骤包括：The node locating method according to claim 4, wherein the server performs average signal strength calculation on all the nodes to be selected jointly detected by the first node and the second node, and corresponds to the maximum value of the average signal strength. The steps for setting the node to the third node include:
    服务器根据第一节点与待选节点之间的信号强度、第二节点与待选节点之间的信号强度，计算获取待选节点与第一节点和第二节点的平均信号强度；The server calculates, according to the signal strength between the first node and the candidate node, and the signal strength between the second node and the candidate node, the average signal strength of the candidate node and the first node and the second node.
    当服务器获取到所有待选节点的平均信号强度时，获取平均信号强度最大值对应的节点，并设为第三节点。When the server obtains the average signal strength of all the nodes to be selected, the node corresponding to the maximum value of the average signal strength is obtained and set as the third node.
  8. 如权利要求7所述的节点定位方法，其特征在于，所述第三信号标识包括第三节点的第三坐标，所述服务器获取第三节点的第三信号标识的步骤包括：The node locating method according to claim 7, wherein the third signal identifier comprises a third coordinate of the third node, and the step of the server acquiring the third signal identifier of the third node comprises:
    服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
    服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
    服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  9. 如权利要求6所述的节点定位方法，其特征在于，所述第三信号标识包括第三节点的第三坐标，所述服务器获取第三节点的第三信号标识的步骤包括：The node locating method according to claim 6, wherein the third signal identifier comprises a third coordinate of the third node, and the step of the server acquiring the third signal identifier of the third node comprises:
    服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
    服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
    服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  10. 如权利要求5所述的节点定位方法，其特征在于，所述第三信号标识包括第三节点的第三坐标，所述服务器获取第三节点的第三信号标识的步骤包括：The node locating method according to claim 5, wherein the third signal identifier comprises a third coordinate of the third node, and the step of the server acquiring the third signal identifier of the third node comprises:
    服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
    服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
    服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  11. 如权利要求4所述的节点定位方法，其特征在于，所述第三信号标识包括第三节点的第三坐标，所述服务器获取第三节点的第三信号标识的步骤包括：The node locating method according to claim 4, wherein the third signal identifier comprises a third coordinate of the third node, and the step of the server acquiring the third signal identifier of the third node comprises:
    服务器计算第三节点与第一节点的第二距离；The server calculates a second distance between the third node and the first node;
    服务器计算第三节点与第二节点的第三距离；The server calculates a third distance between the third node and the second node;
    服务器根据第一距离、第二距离和第三距离进行计算，以获取第三节点的第三坐标。The server performs calculation according to the first distance, the second distance, and the third distance to obtain the third coordinate of the third node.
  12. 如权利要求1所述的节点定位方法，其特征在于，所述节点定位方法还包括：The node locating method according to claim 1, wherein the node locating method further comprises:
    服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to call the complete associated positioning network.
  13. 一种服务器，其特征在于，所述服务器包括：A server, wherein the server comprises:
    接收模块，用于服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；a receiving module, configured to receive, by the server, a signal identifier of all nodes and a signal strength between all nodes within a preset range and other nodes;
    确定模块，用于服务器根据所有节点的信号标识和所有节点与其他节点之间的信号强度，确定所有节点的关联关系；a determining module, configured by the server to determine an association relationship of all nodes according to signal identifiers of all nodes and signal strength between all nodes and other nodes;
    构建模块，用于服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络。A building module for the server to construct an associated positioning network between all nodes according to the relationship between all nodes.
  14. 一种节点定位系统，其特征在于，所述节点定位系统包括：节点和服务器，A node positioning system, characterized in that the node positioning system comprises: a node and a server,
    所述节点将节点的信号标识以及在设范围内与其他节点之间的信号强度发送至服务器；The node sends the signal identifier of the node and the signal strength between the set and other nodes to the server;
    所述节点接收并显示服务器发送的关联定位网路；The node receives and displays an associated positioning network sent by the server;
    所述服务器接收所有节点的信号标识以及所有节点在预设范围内与其他节点之间的信号强度；The server receives signal identifiers of all nodes and signal strengths between all nodes within a preset range and other nodes;
    所述服务器根据所有节点的信号标识和所有节点与其他节点之间的信号The server identifies signals based on all nodes and signals between all nodes and other nodes
    所述服务器根据所有节点之间的关联关系，构建所有节点之间的关联定位网络；The server constructs an association positioning network between all nodes according to an association relationship between all nodes;
    所述服务器将关联定位网络发送至任一节点，以供节点调用完整的关联定位网络。The server sends the associated positioning network to any node for the node to invoke the complete associated positioning network.
  15. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有节点定位程序，所述节点定位程序被处理器执行时实现如权利要求1至7中任一项所述的节点定位方法的步骤。 A computer readable storage medium, wherein the computer readable storage medium stores a node locating program, and the node locating program is executed by a processor to implement the method of any one of claims 1 to 7. The steps of the node location method.
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