WO2020192171A1 - Indoor positioning control method, system and electronic device - Google Patents

Abstract

The present application relates to an indoor positioning control method, a system and an electronic device. The method comprises: step a: obtaining positioning data of a user by means of a transmission node; step b: a cloud server calculating the positioning sub-area in which the user is currently located on the basis of the positioning data by means of a box algorithm, calculating a positioning sub-area matrix and a trigger area matrix according to boundary point coordinates of the positioning sub-area, and obtaining an energy-saving control matrix according to the positioning sub-area matrix and the trigger area matrix; and step c: generating a control command according to the energy-saving control matrix, and broadcasting the control command to the transmission node to control the working state of the transmission node. In the present application, positioning data is obtained by means of the transmission node, and the cloud server performs positioning calculation according to the positioning data, and controls the working states of transmission nodes in different positioning sub-areas according to positioning calculation results such that the positioning system saves energy and reduces consumption.

Description

Indoor positioning control method, system and electronic equipment Technical field

The application belongs to the technical field of indoor positioning, and particularly relates to an indoor positioning control method, system and electronic equipment.

Background technique

Nowadays, indoor positioning has become a major research focus. GPS is currently the most mature positioning technology, but the limitations of its signals that cannot be accurately positioned through buildings have become increasingly prominent, and its effects in indoor positioning and navigation are not ideal. Using wireless technology to achieve positioning has become a development trend in the field of positioning research. A variety of positioning technologies have been proposed for the development of different scenarios, positioning costs, positioning accuracy and other conditions.

At present, the more commonly used indoor positioning technologies include:

1: Method based on range detection (call-ID); the user Bluetooth enters the signal coverage range of the Bluetooth access point, the user connects to the access point, the access point transmits the user's information to the server, and the server transmits the location range of the access point Provide users with access points to achieve positioning. The user end can only obtain the location of the Bluetooth coverage area of its access point, and can only achieve room-level positioning, and no precise positioning has been obtained.

2: A positioning method based on the connection tag Bluetooth to obtain its RSSI (Received Signal Strength Indication) value; the user Bluetooth searches for and accesses the positioned tag Bluetooth to obtain the location information and RSSI value of the tag Bluetooth. Calculate the specific range of the Bluetooth coverage of the user through the RSSI value. Although the positioning accuracy is higher than that of the room level, it is still a larger position range, and it takes too long to establish a connection with the tag Bluetooth, which affects the positioning experience effect.

3: Positioning method based on querying and broadcasting Bluetooth RSSI value; the user searches for and obtains at least three nearby Bluetooth tags that continuously broadcast their own information and RSSI value through a Bluetooth-enabled device, and calculates the indoor coordinates of the user based on the RSSI value , And finally determine the location. Although this method can accurately locate, but the positioning environment requires a large number of Bluetooth tags, and its continuous broadcast information causes mutual interference of indoor positioning signals, which makes the RSSI value obtained by the user unstable, and the beacon Bluetooth is always in working state and cannot be used in the cloud. Excessive control, energy consumption and loss affect the stability of the system and increase the burden of system maintenance.

4: Wi-Fi positioning technology: Due to the popularity of Wi-Fi networks, it is now widely used. Wi-Fi positioning is based on the existing WLAN network, and uses the RSSI value positioning method. Wi-Fi positioning can reach meter-level positioning (1-10 meters). When Wi-Fi is turned on, the device can scan to obtain the signals and IDs of the surrounding APs. The user sends this information to the server, and the server calculates the user's location and feeds it back to the user. However, APs consume high energy and must be placed where they can be connected to a power source, and their erection costs are relatively high. These problems restrict the use and development of their positioning.

Based on the technical problems existing in the existing indoor positioning technology, it is necessary to provide a new indoor positioning method to reduce the interference of the positioning signal, reduce the energy consumption of the positioning device, and meet the positioning needs of self-positioning and searching and tracking targets.

Summary of the invention

The present application provides an indoor positioning control method, system, and electronic device, which aim to solve at least one of the above technical problems in the prior art to a certain extent.

In order to solve the above-mentioned problems, this application provides the following technical solutions:

An indoor positioning control method includes the following steps:

Step a: Obtain the user's positioning data through the transmission node;

Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

The technical solution adopted by the embodiment of the application further includes: in the step a, the transmission node includes a Bluetooth function module, a WiFi function module, a micro-processing module, a storage module, and a power supply module, and the Bluetooth function module is used to obtain users The WiFi function module is used to forward positioning data and communicate with the cloud server, and the micro-processing module is used to process and send positioning data, and perform energy-saving control of the Bluetooth function module and the WiFi function module. The storage module is used to store the position coordinate information of the transmission node, and the power supply module is used to supply power to the transmission node; the working state of the transmission node includes a working mode, a waiting mode and an intermittent sleep mode.

The technical solution adopted by the embodiment of the present application further includes: the step a further includes: according to the size of the current positioning plane, uniformly dividing the current positioning plane into n*m positioning sub-areas, each positioning sub-areas uses matrix elements a _{i ,j} is numbered; and each positioning sub-area is evenly divided into p*k trigger areas with length and width of c and d respectively, and each trigger area is numbered by matrix elements b _t,r ; wherein, the positioning sub-area The trigger area of the area includes independent trigger area, adjacent trigger area and common trigger area.

The technical solution adopted by the embodiment of the application further includes: in the step b, the cloud server calculates the positioning sub-region where the user is currently located based on the positioning data through the box algorithm, and calculates the coordinates of the boundary points of the positioning sub-regions respectively The positioning sub-area matrix and the trigger area matrix are extracted, and the energy-saving control matrix is obtained, including:

Step b1: Obtain the numbers of the matrix elements corresponding to the positioning sub-area and the numbers of the matrix elements corresponding to the trigger area according to the boundary point coordinates; among them, the coordinates of the boundary point A are reduced, X _A /a, Y _A /b Round down to get the number x _A , y _A , element of the matrix element of the positioning subarea

The representative positioning sub-region is the location of boundary point A:

Perform two reduction operations on the location of the boundary point A to obtain the number of the matrix element corresponding to the trigger area. X _A and Y _A modulate a and b respectively to obtain the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region, Round down x ₁ /c and y ₁ /d to get the subscripts x _a , y _b , elements of the trigger area matrix

The representative trigger area is the specific range of boundary point A in the positioning sub-area:

Step b2: The cloud server assigns values to the elements of the positioning sub-regions based on the positioning sub-region numbers calculated by the boundary point coordinates, and constructs the positioning sub-region matrix s _{A of the} boundary point A according to the assignment;

Step b3: Assign values to the elements of the trigger area according to the trigger area number calculated by the coordinate of the boundary point to construct the trigger area matrix s _A ′ of the boundary point;

Step b4: The sum of the positioning sub-area matrix and the trigger area matrix constitutes the control matrix of the boundary point A, and the sum of the control matrices of the four boundary points constitutes the energy-saving control matrix S;

S=∑(s+s').

The technical solution adopted by the embodiment of the present application further includes: in the step c, the control instruction is generated according to the value of each element in the energy-saving control matrix, and the control instruction is broadcast to the transmission node, and the transmission node The working status is controlled specifically as follows: an element assigned a value of 0 indicates that the positioning sub-area represented by the element is not approached by a user, and the transmission node in the area enters intermittent sleep mode; an element assigned a value of greater than 0 and less than 5 indicates that the user is close to the positioning sub-area, The transmission node in the area enters the waiting mode; the element with a value greater than or equal to 5 indicates that the user is in the location sub-area or the user will arrive in the area, the transmission node in the area enters the working mode, and the element with a value of 8 indicates that the boundary point is located in the location In the sub-area, the transmission nodes in the positioning sub-area are in working mode.

Another technical solution adopted in the embodiment of the present application is: an indoor positioning control system, including:

Transmission node: used to obtain user positioning data;

Cloud server: based on the positioning data, calculate the positioning sub-area where the user is currently located by the box algorithm, and calculate the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, according to the The energy-saving control matrix is obtained by locating the sub-area matrix and the triggering area matrix; and generating control instructions according to the energy-saving control matrix, broadcasting the control instructions to the transmission node, and controlling the working state of the transmission node.

The technical solution adopted by the embodiment of the application further includes: the transmission node includes a Bluetooth function module, a WiFi function module, a micro-processing module, a storage module, and a power supply module. The Bluetooth function module is used to obtain user positioning data. The functional module is used to forward positioning data and communicate with the cloud server, the micro-processing module is used to process and send positioning data, and perform energy-saving control of the Bluetooth function module and the WiFi function module, and the storage module is used to store and transmit The position coordinate information of the node, the power module is used to supply power to the transmission node; the working state of the transmission node includes a working mode, a waiting mode and an intermittent sleep mode.

The technical solution adopted in the embodiment of this application also includes a region dividing module: used to uniformly divide the current positioning plane into n*m positioning subregions according to the size of the current positioning plane, and each positioning subregion uses matrix elements a _{i, j} Numbering; and each positioning sub-region is evenly divided into p*k trigger regions with length and width of c and d respectively, and each trigger region is numbered by matrix elements b _{t, r} ; wherein, the positioning sub-region The trigger area includes independent trigger area, adjacent trigger area and common trigger area.

The technical solution adopted in the embodiment of the application further includes: the cloud server specifically includes:

Positioning area calculation module: used to calculate the current positioning sub-area of the user through the box algorithm based on the positioning data, obtain the boundary point coordinates according to the positioning sub-area, and obtain the corresponding matrix element number and trigger of the positioning sub-area according to the boundary point coordinates. The area corresponds to the number of the matrix element; among them, the coordinate of the boundary point A is reduced, X _A /a, Y _A /b is rounded down to get the number of the matrix element of the positioning sub-area x _A , y _A , element

The representative positioning sub-region is the location of boundary point A:

Perform two reduction operations on the location of the boundary point A to obtain the number of the matrix element corresponding to the trigger area. X _A and Y _A modulate a and b respectively to obtain the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region, Round down x ₁ /c and y ₁ /d to get the subscripts x _a , y _b , elements of the trigger area matrix

The representative trigger area is the specific range of boundary point A in the positioning sub-area:

Control matrix calculation module: used to assign values to the elements of the positioning sub-area according to the positioning sub-area number calculated by the boundary point coordinates, and to construct the positioning sub-area matrix s _{A of the} boundary point A according to the assignment; the trigger area number calculated according to the boundary point coordinates Assign values to the elements of the trigger area to construct the boundary point trigger area matrix s′ _A ; the sum of the positioning sub-area matrix and the trigger area matrix constitutes the control matrix of the boundary point A, and the sum of the control matrices of the four boundary points constitutes the energy-saving control Matrix S;

S=∑(s+s').

The technical solution adopted in the embodiment of the application further includes: the cloud server generates a control instruction according to the value of each element in the energy-saving control matrix, and broadcasts the control instruction to the transmission node, and controls the working state of the transmission node. As: an element assigned a value of 0 indicates that the location sub-area represented by the element is not close to the user, and the transmission node in the area enters intermittent sleep mode; an element assigned a value greater than 0 and less than 5 indicates that the user is close to the location sub-area, and the transmission node in the area Enter the waiting mode; the element assigned a value of 5 or more indicates that the user is in the positioning sub-area or the user will reach the area, and the transmission node in the area enters the working mode. The element assigned a value of 8 indicates that the boundary point is located in the positioning sub-area. The transmission nodes in the positioning sub-area are in working mode.

Another technical solution adopted by the embodiments of the present application is: an electronic device, including:

At least one processor; and

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions that can be executed by the one processor, and the instructions are executed by the at least one processor, so that the at least one processor can perform the following operations of the indoor positioning control method described above:

Step a: Obtain the user's positioning data through the transmission node;

Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

Compared with the prior art, the beneficial effects produced by the embodiments of the present application are: the indoor positioning control method, system and electronic equipment of the embodiments of the present application obtain positioning data through the transmission node, and the cloud server performs positioning calculations according to the positioning data, and performs positioning calculations according to the positioning calculations. As a result, the working status of transmission nodes in different positioning sub-areas is controlled, and energy saving and consumption reduction of the positioning system is realized. At the same time, under the premise of ensuring positioning accuracy, the present application can reduce the interference of positioning signals, reduce the energy consumption of the positioning device, and can meet the positioning requirements of self-positioning and searching and tracking targets.

Description of the drawings

Fig. 1 is a flowchart of an indoor positioning control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the division of positioning sub-regions according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the structure of a positioning sub-region according to an embodiment of the present application;

Figure 4 is a schematic diagram of the box algorithm;

Figure 5 is a schematic structural diagram of an indoor positioning control system according to an embodiment of the present application;

Figure 6 is a schematic diagram of simulation results;

FIG. 7 is a schematic diagram of a hardware device structure of an indoor positioning control method provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and not used to limit the application.

Please refer to FIG. 1, which is a flowchart of an indoor positioning control method according to an embodiment of the present application. The indoor positioning control method of the embodiment of the present application includes the following steps:

Step 100: Obtain the positioning data of the user through the transmission node, and transmit the position coordinate information of the transmission node itself and the positioning data to the cloud server;

In step 100, the transmission node of the embodiment of the present application includes a 2.4G and BLE4.0 low-power Bluetooth function module, a 2.4G or 5.8G low-power WiFi function module, a micro-processing module, a storage module, and a power supply module. Among them, the Bluetooth function module is used to obtain the user's positioning data, such as the user's Bluetooth signal address, data packet type, channel number, and user sent signal strength RSSI (Received Signal Strength Indication) value and other data. The WiFi function module supports 802.11b/g/n protocol standards and is mainly used for forwarding positioning data and communicating with cloud servers. The transmission node processes and sends positioning data through the micro-processing module and performs energy-saving control of the Bluetooth function module and the WiFi function module. Among them, the data processing of the micro-processing module includes screening, integrating and saving positioning data. The transmission node is independently powered by the power supply module, without external power supply. At the same time, the transmission node saves fixed position coordinate information in the positioning system, and the position coordinate information is determined by the actual layout environment. In the positioning process, the acquired positioning data and the position coordinate information of the transmission node itself are sent to the cloud server, so that the cloud server can perform positioning calculation.

Specifically, the transmission node in the embodiment of the present application includes three working states: working mode, waiting mode, and intermittent sleep mode. The cloud server realizes energy saving of the positioning system by controlling the working state of the transmission node. The specific working status is as follows:

(1) Working mode: The transmission node performs a high-frequency search for the user's positioning data, and then sends the positioning data to the cloud server; among them, the search frequency can be set through the cloud server according to the specific use environment.

(2) Waiting mode: The Bluetooth function module of the transmission node enters a dormant state, the WiFi function module switches to a low power consumption mode, and listens to the control instructions of the cloud server. At this time, the energy consumption of the transmission node will be reduced.

(3) Intermittent sleep mode: The transmission node periodically sleeps and wakes up in this mode, and the cycle can be adjusted according to positioning requirements. During sleep, the Bluetooth function module and WiFi function module of the transmission node enter a deep sleep state, and the transmission node consumes almost no energy. When waking up, the WiFi function module of the transmission node is turned on to monitor the control commands of the cloud server.

Step 200: Divide the current positioning plane into a certain number of positioning sub-areas, and use matrix elements to respectively number each positioning sub-areas;

In step 200, the division of positioning sub-areas is mainly for reducing the positioning range and managing the working status of transmission nodes in each area. The method of dividing the positioning sub-areas is as follows: according to the size of the positioning plane, the positioning plane is evenly divided into multiple positioning sub-areas with length and width a and b respectively. As shown in Figure 2, the positioning plane is divided into n*m positioning sub-regions. Area, each positioning sub-area is numbered by matrix elements a _{i, j} , and the cloud server can determine the position of each positioning sub-area by querying the number.

Specifically, the positioning sub-area includes three types of trigger areas: an independent trigger area, an adjacent trigger area, and a common trigger area. Each trigger area can trigger the transmission nodes of the surrounding positioning sub-areas to open and expand the positioning area of the positioning plane, so as to avoid the decrease in positioning accuracy caused by users crossing areas. Specifically, as shown in Fig. 3, the positioning sub-region is evenly divided into p*k trigger regions with length and width c and d respectively, and each trigger region is numbered by matrix elements b _{t, r} . Among them, the part without shading in the middle is an independent trigger area. When the user is located in the independent trigger area, it means that the user is temporarily active in the positioning sub-area. Therefore, the transmission nodes in the positioning sub-area are in working mode, and the positioning sub-area is around The transmission node in the positioning sub-area of is in the waiting mode, waiting for the control command from the cloud server, and the other transmission nodes are in the intermittent sleep mode. The shading of the surrounding horizontal lines is the adjacent trigger area. When the user is located in the adjacent trigger area, it means that the user will cross to the adjacent positioning sub-area. The cloud server will control the waiting mode in the adjacent positioning sub-area in advance. The transmission node enters the working mode to expand the positioning area to ensure positioning accuracy. The grid shading at the end of the circumference is the common trigger area. When the user is positioned in the common trigger area, it is impossible to determine the area the user wants to cross. The cloud server will control the three adjacent positioning sub-areas in advance to be in waiting mode The transmission node enters the working mode to expand the positioning area.

Step 300: Based on the positioning data, use the box algorithm to calculate the user's current positioning sub-area, obtain the boundary point coordinates according to the positioning sub-area, and obtain the corresponding matrix element numbers of the positioning sub-area and the corresponding matrix elements of the trigger area according to the boundary point coordinates. The number;

In step 300, the box algorithm is specifically: the cloud server converts the positioning data obtained by the transmission node into ranging information, and constructs the box through the box algorithm according to the ranging information from the smart beacon to the user. The inscribed circle of the box is a circle with the smart beacon as the center and the distance converted by the ranging information as the radius. As shown in Figure 4, it is a schematic diagram of the box algorithm. More than three boxes can determine the location of the sub-area as shown in the figure. The center of the positioning sub-area is the positioning point of the user. The midpoint A (X _A , Y _A ), B (X _B , Y _B ), C (X _C , Y _C ), D (X _D , Y _D ) of the midpoint of each side length of the positioning sub-region represents the positioning of the positioning sub-region The boundary is used to determine the positioning sub-areas that overlap with the current positioning sub-areas, and serves as a basis for the cloud server to control the working status of the transmission nodes in each positioning sub-areas.

Performing a reduction operation on the boundary point coordinates can obtain the number of the matrix element corresponding to the positioning sub-region. As in formula (1), the coordinates of boundary point A are reduced, X _A /a, Y _A /b are rounded down, and the number x _A , y _A , element

The representative positioning sub-region is the location of the positioning boundary point A:

Perform two reduction operations on the location of the boundary point to obtain the number of the matrix element corresponding to the trigger area. As in formula (2), the coordinate of boundary point A is reduced, X _A and Y _A are modulo a and b respectively, and the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region can be obtained. For x ₁ /c, y ₁ /d is rounded down to get the subscript x _a , y _b , element of the trigger area matrix

The representative trigger area is the specific range of the boundary point A in the positioning sub-area;

Cloud server based on elements

The control matrix is calculated to perform energy-saving control on the transmission nodes in the positioning sub-area.

Step 400: Calculate the positioning sub-area matrix and the trigger area matrix according to the numbers of the matrix elements corresponding to the positioning sub-area and the numbers of the matrix elements corresponding to the trigger area, and finally calculate the energy-saving control matrix;

In step 400, the cloud server assigns values to the elements of the positioning sub-area according to the number of the positioning sub-area calculated by the boundary point coordinates. Taking point A as an example, the cloud server

Assign the value of 1 to the elements around the location and the positioning subregion, and assign the value of 0 to other positioning subregions, and construct the positioning subregion matrix s _{A of the} boundary points of the region according to the assignment. As in formula (3), the positioning sub-region matrix with the boundary point at the positioning sub-region a _3,2 is the color region shown in Figure 2. The elements in the matrix are a _2,1 , a _2,2 , a _2,3 , a _3,1 , a _3,2 , a _3,3 , a _4,1 , a _4,2 , a _{4,3 are} assigned the value 1, and other elements are assigned the value 0.

The trigger area element calculated by the server according to the boundary point coordinates

Numbers are assigned to the elements of the trigger area to construct the boundary point trigger area matrix s _A ′. Specifically, there are 9 types of assignment rules, as follows:

1) When

When the boundary point of the positioning sub-area is located in the independent trigger area, only the element

Assign the value 1 and other elements as 0.

2) When

When the positioning sub-region boundary point is located in the adjacent trigger area on the left of the positioning sub-region, the element

And the element on the left

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the left, only elements

Assign the value 1 and other elements as 0.

3) When

When the positioning sub-area boundary point is located in the adjacent trigger area on the right side of the positioning sub-area, the element

And the elements on the right

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the left, only elements

Assign the value 1 and other elements as 0.

4) When

When the positioning sub-area boundary point is located in the adjacent trigger area on the upper side of the positioning sub-area, the element

And the upper element

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the upper side, only elements

Assign the value 1 and other elements as 0.

5) When

When the positioning sub-region boundary point is located in the adjacent trigger area below the positioning sub-region, the element

And the upper element

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the lower side, only elements

Assign the value 1 and other elements as 0.

6) When

When the positioning sub-area boundary point is located in the common trigger area on the upper left side of the positioning sub-area, the element

And upper element

Upper left element

And the left element

It is assigned a value of 1, and other elements are assigned a value of 0.

7) When

When the positioning sub-region boundary point is located in the common trigger area on the upper right side of the positioning sub-region, the element

And upper element

Upper right element

And the right element

It is assigned a value of 1, and other elements are assigned a value of 0.

8) When

, The boundary point of the positioning sub-region is located in the common trigger area on the lower left side of the positioning sub-region, then the element

And the lower element

Lower left element

And the left element

It is assigned a value of 1, and other elements are assigned a value of 0.

9) When

, The boundary point of the positioning sub-area is located in the common trigger area on the lower right side of the positioning sub-area, then the element

And the lower element

Lower right element

And the right element

It is assigned a value of 1, and other elements are assigned a value of 0.

The sum of the positioning sub-area matrix and the triggering area matrix of the boundary point of the positioning sub-area constitutes the control matrix of the boundary point, and the sum of the control matrices of the four boundary points constitutes the energy-saving control matrix S of the system as in formula (4);

S=∑(s+s′) (4);

Step 500: The cloud server generates a control instruction according to the value of each element in the energy-saving control matrix, and broadcasts the control instruction to the transmission node to control the working state of the transmission node;

In step 500, the cloud server generates a control instruction according to the value of each element in the energy-saving control matrix: an element assigned a value of 0 indicates that the positioning sub-area represented by the element is not approached by a user, and the transmission node in the area enters the intermittent sleep mode; An element greater than 0 and less than 5 indicates that the user is close to the location sub-area, and the transmission node in the area enters the waiting mode; an element assigned a value greater than or equal to 5 indicates that the user is in the location sub-area or the user will arrive in the area, and the transmission node in the area enters Work mode, where an element assigned a value of 8 indicates that the boundary point of the positioning area is located in the positioning sub-area.

The cloud server constructs control instructions with row elements, broadcasts the control instructions to the transmission node, and the transmission node extracts the corresponding assigned value according to the matrix element number of the positioning sub-area where it is located, and performs the conversion of the working state according to the assigned value. That is: when the value extracted by the transmission node is greater than or equal to 5, the transmission node in the corresponding positioning subarea executes the working mode; when the value extracted by the transmission node is greater than 0 and less than 5, the transmission node in the corresponding positioning subarea executes Waiting mode; when the value extracted by the transmission node is 0, the transmission node in the corresponding positioning sub-area executes the intermittent sleep mode.

Please refer to FIG. 5, which is a schematic structural diagram of an indoor positioning control system according to an embodiment of the present application. The indoor positioning control system of the embodiment of the present application includes a transmission node and a cloud server. The transmission node is used to obtain the user's positioning data, and transmits the position coordinate information and positioning data of the transmission node itself to the cloud server; the cloud server is used to perform positioning calculations according to the position coordinate information and positioning data of the transmission node itself, and according to the positioning The calculation result controls the working status of the transmission node.

Specifically, the transmission node of the embodiment of the present application includes 2.4G and BLE4.0 low-power Bluetooth function modules, 2.4G or 5.8G low-power WiFi function modules, micro-processing modules, storage modules, and power modules. Among them, the Bluetooth function module is used to obtain the user's positioning data, such as the user's Bluetooth signal address, data packet type, channel number, and user sent signal strength RSSI (Received Signal Strength Indication) value and other data. The WiFi function module supports 802.11b/g/n protocol standards and is mainly used for forwarding positioning data and communicating with cloud servers. The micro-processing module is used to process and send positioning data and perform energy-saving control of the Bluetooth function module and the WiFi function module. Among them, the data processing of the micro-processing module includes screening, integrating and saving positioning data. The power module is used to independently power the transmission node without an external power supply. In the embodiment of the present application, the transmission node stores fixed position coordinate information in the positioning system, and the position coordinate information is determined by the actual layout environment. In the positioning process, the acquired positioning data and the position coordinate information of the transmission node itself are sent to the cloud server, so that the cloud server can perform positioning calculation.

The transmission node in the embodiment of the present application includes three working states: working mode, waiting mode and intermittent sleep mode. The cloud server realizes energy saving of the positioning system by controlling the working state of the transmission node. The specific working status is as follows:

(1) Working mode: The transmission node performs a high-frequency search for the user's positioning data, and then sends the positioning data to the cloud server; among them, the search frequency can be set through the cloud server according to the specific use environment.

(2) Waiting mode: The Bluetooth function module of the transmission node enters a dormant state, the WiFi function module switches to a low power consumption mode, and listens to the control instructions of the cloud server. At this time, the energy consumption of the transmission node will be reduced.

(3) Intermittent sleep mode: The transmission node periodically sleeps and wakes up in this mode, and the cycle can be adjusted according to positioning requirements. During sleep, the Bluetooth function module and WiFi function module of the transmission node enter a deep sleep state, and the transmission node consumes almost no energy. When waking up, the WiFi function module of the transmission node is turned on to monitor the control commands of the cloud server.

The indoor positioning control system of the embodiment of the present application further includes:

Area division module: used to divide the current positioning plane into a certain number of positioning sub-areas, and use matrix elements to number each positioning sub-areas; among them, the division of the positioning sub-areas is mainly to reduce the positioning range and manage each area The working status of the transmission node. The method of dividing the positioning sub-areas is as follows: according to the size of the positioning plane, the positioning plane is evenly divided into multiple positioning sub-areas with length and width a and b respectively. As shown in Figure 2, the positioning plane is divided into n*m positioning sub-regions. Area, each positioning sub-area is numbered by matrix elements a _{i, j} , and the cloud server can determine the position of each positioning sub-area by querying the number.

Specifically, the positioning sub-area includes three types of trigger areas: an independent trigger area, an adjacent trigger area, and a common trigger area. Each trigger area can trigger the transmission nodes of the surrounding positioning sub-areas to open and expand the positioning area of the positioning plane, so as to avoid the decrease in positioning accuracy caused by users crossing areas. Specifically, as shown in Fig. 3, the positioning sub-region is evenly divided into p*k trigger regions with length and width c and d respectively, and each trigger region is numbered by matrix elements b _{t, r} . Among them, the part without shading in the middle is an independent trigger area. When the user is located in the independent trigger area, it means that the user is temporarily active in the positioning sub-area. Therefore, the transmission nodes in the positioning sub-area are in working mode, and the positioning sub-area is around The transmission node in the positioning sub-area of is in the waiting mode, waiting for the control command from the cloud server, and the other transmission nodes are in the intermittent sleep mode. The shading of the surrounding horizontal lines is the adjacent trigger area. When the user is located in the adjacent trigger area, it means that the user will cross to the adjacent positioning sub-area. The cloud server will control the waiting mode in the adjacent positioning sub-area in advance. The transmission node enters the working mode to expand the positioning area to ensure positioning accuracy. The grid shading at the end of the circumference is the common trigger area. When the user is positioned in the common trigger area, it is impossible to determine the area the user wants to cross. The cloud server will control the three adjacent positioning sub-areas in advance to be in waiting mode The transmission node enters the working mode to expand the positioning area.

In the embodiment of this application, the cloud server specifically includes:

Positioning area calculation module: used to calculate the current positioning sub-area of the user through the box algorithm based on the positioning data, obtain the boundary point coordinates according to the positioning sub-area, and obtain the corresponding matrix element number and trigger of the positioning sub-area according to the boundary point coordinates. The area corresponds to the number of the matrix element; the box algorithm is specifically: the cloud server converts the positioning data obtained by the transmission node into distance measurement information, and builds the box through the box algorithm based on the distance measurement information from the smart beacon to the user. The inscribed circle of the box is a circle with the smart beacon as the center and the distance converted by the ranging information as the radius. As shown in Figure 4, it is a schematic diagram of the box algorithm. More than three boxes can determine the location of the sub-area as shown in the figure. The center of the positioning sub-area is the positioning point of the user. The midpoints A (X _A , Y _A ), B (X _B , Y _B ), C (X _C , Y _C ), and D (X _D , Y _D ) of each side of the positioning sub-region represent the positioning of the positioning sub-region The boundary is used to determine the positioning sub-areas that overlap with the current positioning sub-areas, and serves as a basis for the cloud server to control the working status of the transmission nodes in each positioning sub-areas.

Performing a reduction operation on the boundary point coordinates can obtain the number of the matrix element corresponding to the positioning sub-region. As in formula (1), the coordinates of boundary point A are reduced, X _A /a, Y _A /b are rounded down, and the number x _A , y _A , element

The representative positioning sub-region is the location of the positioning boundary point A:

Perform two reduction operations on the location of the boundary point to obtain the number of the matrix element corresponding to the trigger area. As in formula (2), the coordinate of boundary point A is reduced, X _A and Y _A are modulo a and b respectively, and the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region can be obtained. For x ₁ /c, y ₁ /d is rounded down to get the subscript x _a , y _b , element of the trigger area matrix

The representative trigger area is the specific range of the boundary point A in the positioning sub-area;

Cloud server based on elements

The control matrix is calculated to perform energy-saving control on the transmission nodes in the positioning sub-area.

Control matrix calculation module: used to calculate the positioning sub-area matrix and the triggering area matrix according to the number of the matrix element corresponding to the positioning sub-area and the number of the matrix element corresponding to the trigger area, and finally calculate the energy-saving control matrix; the cloud server is based on the boundary point coordinates The calculated positioning sub-area number assigns values to the positioning sub-area elements. Taking point A as an example, the cloud server

Assign the value of 1 to the elements around the location and the positioning subregion, and assign the value of 0 to other positioning subregions, and construct the positioning subregion matrix s _{A of the} boundary points of the region according to the assignment. As in formula (3), the positioning sub-region matrix with the boundary point at the positioning sub-region a _3,2 is the color region shown in Figure 2. The elements in the matrix are a _2,1 , a _2,2 , a _2,3 , a _3,1 , a _3,2 , a _3,3 , a _4,1 , a _4,2 , a _{4,3 are} assigned the value 1, and other elements are assigned the value 0.

The trigger area element calculated by the cloud server according to the boundary point coordinates

Numbers are assigned to the elements of the trigger area to construct the boundary point trigger area matrix s _A ′. Specifically, there are 9 types of assignment rules, as follows:

1) When

When the boundary point of the positioning sub-area is located in the independent trigger area, only the element

Assign the value 1 and other elements as 0.

2) When

When the positioning sub-region boundary point is located in the adjacent trigger area on the left of the positioning sub-region, the element

And the element on the left

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the left, only elements

Assign the value 1 and other elements as 0.

3) When

When the positioning sub-area boundary point is located in the adjacent trigger area on the right side of the positioning sub-area, the element

And the elements on the right

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the left, only elements

Assign the value 1 and other elements as 0.

4) When

When the positioning sub-area boundary point is located in the adjacent trigger area on the upper side of the positioning sub-area, the element

And the upper element

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the upper side, only elements

Assign the value 1 and other elements as 0.

5) When

When the positioning sub-region boundary point is located in the adjacent trigger area below the positioning sub-region, the element

And the upper element

It is assigned a value of 1, and other elements are assigned a value of 0. If there are no elements on the lower side, only elements

Assign the value 1 and other elements as 0.

6) When

When the positioning sub-area boundary point is located in the common trigger area on the upper left side of the positioning sub-area, the element

And upper element

Upper left element

And the left element

It is assigned a value of 1, and other elements are assigned a value of 0.

7) When

When the positioning sub-region boundary point is located in the common trigger area on the upper right side of the positioning sub-region, the element

And upper element

Upper right element

And the right element

It is assigned a value of 1, and other elements are assigned a value of 0.

8) When

, The boundary point of the positioning sub-region is located in the common trigger area on the lower left side of the positioning sub-region, then the element

And the lower element

Lower left element

And the left element

It is assigned a value of 1, and other elements are assigned a value of 0.

9) When

, The boundary point of the positioning sub-area is located in the common trigger area on the lower right side of the positioning sub-area, then the element

And the lower element

Lower right element

And the right element

It is assigned a value of 1, and other elements are assigned a value of 0.

The sum of the positioning sub-area matrix and the triggering area matrix of the boundary point of the positioning sub-area constitutes the control matrix of the boundary point, and the sum of the control matrices of the four boundary points constitutes the energy-saving control matrix S of the system as in formula (4);

S=∑(s+s′) (4);

Control module: used to generate control instructions according to the value of each element in the energy-saving control matrix, and broadcast the control instruction to the transmission node to control the working state of the transmission node; among them, to generate the control instruction according to the value of each element in the energy-saving control matrix Specifically: an element assigned a value of 0 indicates that the location sub-area represented by the element is not close to the user, and the transmission node in the area enters intermittent sleep mode; an element assigned a value greater than 0 and less than 5 indicates that the user is close to the location sub-area, and the transmission in the area The node enters the waiting mode; the element assigned a value greater than or equal to 5 indicates that the user is in the positioning sub-area or the user will arrive in the area, and the transmission node in the area enters the working mode. The element assigned a value of 8 indicates that the boundary point of the positioning area is located in the location Within the sub-region.

In the embodiment of this application, the cloud server constructs control instructions with row elements, broadcasts the control instructions to the transmission node, and the transmission node extracts the corresponding assignment value according to the matrix element number of the positioning sub-area where it is located, and performs the working status according to the assignment value Conversion. That is: when the value extracted by the transmission node is greater than or equal to 5, the transmission node in the corresponding positioning subarea executes the working mode; when the value extracted by the transmission node is greater than 0 and less than 5, the transmission node in the corresponding positioning subarea executes Waiting mode; when the value extracted by the transmission node is 0, the transmission node in the corresponding positioning sub-area executes the intermittent sleep mode.

The system simulation is verified by experiments, which proves the reliability and validity of this application. The details are shown in Figure 6, which is a schematic diagram of the simulation results. The simulation process is as follows: The 60*60m ² positioning plane is divided into 6*6 positioning sub-areas with length and width of 10m. In the positioning sub-area, there are 5*5 trigger areas with length and width of 2m. It is assumed to be obtained by the box algorithm The coordinates of the boundary points of the positioning area are A(24,17), B(23,17), C(23.5,16.5), D(23.5,18.5). After the area matching calculation, the shaded area in Fig. 6 can be obtained. The four boundary points are all located in the positioning sub-area represented by the element a ₃ , 2. Therefore, the positioning sub-area matrix of the boundary points is the same as s, as in formula (5):

Find the position of the trigger area for the boundary point, and obtain b _2,4 , b _2,4 , b _2,3 , b _{2,5 respectively} , and assign values to the elements according to the assignment rules. The three points A, B, and C are all in the independent trigger area, and the trigger area matrix is the same as s′, as in formula (6)

Point D is located in the adjacent trigger area on the right side of the positioning sub-area, and the trigger area matrix is s _d ′ as in formula (7):

The sum of the positioning sub-area matrix and the trigger area matrix of all boundary points is the control matrix S, as in formula (8):

According to the control matrix, the control command string [000000 444000 485000 444000 000000 000000] can be obtained. The positioning sub-regions corresponding to the elements a _3,2 and a _{3,3 are shown} in Fig.6. The transmission nodes in the a _3,2 and a _3,3 regions perform the working mode, and the elements a _2,1 , a _2,2 , a _{2, 3} , a _3,1 , a _4,1 , a _4,2 , a _4,3 corresponding to the transmission node of the positioning sub-area execute the waiting mode, and other transmission nodes execute the intermittent sleep mode. The simulation result proves that the positioning accuracy of this application can also reach the required target, proving its feasibility.

FIG. 7 is a schematic diagram of a hardware device structure of an indoor positioning control method provided by an embodiment of the present application. As shown in Figure 7, the device includes one or more processors and memory. Taking a processor as an example, the device may also include: an input system and an output system.

The processor, the memory, the input system, and the output system may be connected by a bus or in other ways. In FIG. 7, the connection by a bus is taken as an example.

As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor executes various functional applications and data processing of the electronic device by running non-transitory software programs, instructions, and modules stored in the memory, that is, realizing the processing methods of the foregoing method embodiments.

The memory may include a program storage area and a data storage area, where the program storage area can store an operating system and an application program required by at least one function; the data storage area can store data and the like. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid state storage devices. In some embodiments, the storage may optionally include storage remotely arranged with respect to the processor, and these remote storages may be connected to the processing system through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The input system can receive input digital or character information, and generate signal input. The output system may include display devices such as a display screen.

The one or more modules are stored in the memory, and when executed by the one or more processors, the following operations of any of the foregoing method embodiments are performed:

Step a: Obtain the user's positioning data through the transmission node;

Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

The above-mentioned products can execute the methods provided in the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of this application.

The embodiments of the present application provide a non-transitory (non-volatile) computer storage medium, the computer storage medium stores computer executable instructions, and the computer executable instructions can perform the following operations:

Step a: Obtain the user's positioning data through the transmission node;

Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

The embodiment of the present application provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer To make the computer do the following:

Step a: Obtain the user's positioning data through the transmission node;

Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

The indoor positioning control method, system and electronic device of the embodiments of the application obtain positioning data through the transmission node, and the cloud server performs positioning calculation according to the positioning data, and controls the working status of the transmission node in different positioning sub-regions according to the positioning calculation result to realize the positioning system Energy saving. At the same time, under the premise of ensuring positioning accuracy, the present application can reduce the interference of positioning signals, reduce the energy consumption of the positioning device, and can meet the positioning requirements of self-positioning and searching and tracking targets.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in this application can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to the embodiments shown in this application, but should conform to the widest scope consistent with the principles and novel features disclosed in this application.

Claims (11)

1. An indoor positioning control method, characterized by comprising the following steps:

   Step a: Obtain the user's positioning data through the transmission node;

   Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

   Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.
2. The indoor positioning control method according to claim 1, wherein in the step a, the transmission node includes a Bluetooth function module, a WiFi function module, a microprocessor module, a storage module, and a power supply module, and the Bluetooth function The module is used to obtain the user's positioning data, the WiFi function module is used to forward positioning data and communicate with the cloud server, and the micro-processing module is used to process and send positioning data, and perform communication between the Bluetooth function module and the WiFi function module. The storage module is used to store the position coordinate information of the transmission node, and the power module is used to supply power to the transmission node; the working state of the transmission node includes working mode, waiting mode and intermittent sleep mode.
3. The indoor positioning control method according to claim 1 or 2, wherein the step a further comprises: according to the size of the current positioning plane, uniformly dividing the current positioning plane into n*m positioning sub-areas, and each positioning The sub-regions are numbered by matrix elements a _{i, j} ; each positioning sub-region is evenly divided into p*k trigger regions with length and width of c, d, and each trigger region is numbered by matrix elements b _{t, r} ; Wherein, the trigger area of the positioning sub-area includes an independent trigger area, an adjacent trigger area and a common trigger area.
4. The indoor positioning control method according to claim 3, characterized in that, in the step b, the cloud server calculates the positioning sub-area where the user is currently located based on the positioning data through the box algorithm, and calculates the positioning sub-region where the user is currently located according to the positioning data. The boundary point coordinates are respectively calculated for the positioning sub-area matrix and the trigger area matrix, and the energy-saving control matrix obtained includes:

   Step b1: Obtain the numbers of the matrix elements corresponding to the positioning sub-area and the numbers of the matrix elements corresponding to the trigger area according to the boundary point coordinates; among them, the coordinates of the boundary point A are reduced, X _A /a, Y _A /b Round down to get the number x _A , y _A , element of the matrix element of the positioning subarea

   

   The representative positioning sub-region is the location of boundary point A:

   

   Perform two reduction operations on the location of the boundary point A to obtain the number of the matrix element corresponding to the trigger area. X _A and Y _A modulate a and b respectively to obtain the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region, Round down x ₁ /c and y ₁ /d to get the subscripts x _a , y _b , elements of the trigger area matrix

   

   The representative trigger area is the specific range of boundary point A in the positioning sub-area:

   

   Step b2: The cloud server assigns values to the elements of the positioning sub-regions based on the positioning sub-region numbers calculated by the boundary point coordinates, and constructs the positioning sub-region matrix s _{A of the} boundary point A according to the assignment;

   Step b3: Assign values to the elements of the trigger area according to the trigger area number calculated from the coordinates of the boundary point to construct the trigger area matrix s′ _{A of the} boundary point;

   Step b4: The sum of the positioning sub-area matrix and the trigger area matrix constitutes the control matrix of the boundary point A, and the sum of the control matrices of the four boundary points constitutes the energy-saving control matrix S;

   S=∑(s+s').
5. The indoor positioning control method according to claim 4, characterized in that, in the step c, the control instruction is generated according to the value of each element in the energy-saving control matrix, and the control instruction is broadcast to the transmission node. The working state of the transmission node is specifically controlled as follows: an element assigned a value of 0 indicates that the positioning sub-area represented by the element is not approached by a user, and the transmission node in the area enters intermittent sleep mode; an element assigned a value greater than 0 and less than 5 indicates that the user is approaching In the positioning sub-area, the transmission node in the area enters the waiting mode; the element with a value greater than or equal to 5 indicates that the user is in the positioning sub-area or the user will arrive in the area, the transmission node in the area enters the working mode, and the element with a value of 8 indicates The boundary point is located in the positioning sub-area, and the transmission nodes in the positioning sub-area are in working mode.
6. An indoor positioning control system, characterized in that it comprises:

   Transmission node: used to obtain user positioning data;

   Cloud server: based on the positioning data, calculate the positioning sub-area where the user is currently located by the box algorithm, and calculate the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, according to the The energy-saving control matrix is obtained by locating the sub-area matrix and the triggering area matrix; and generating control instructions according to the energy-saving control matrix, broadcasting the control instructions to the transmission node, and controlling the working state of the transmission node.
7. The indoor positioning control system according to claim 6, wherein the transmission node includes a Bluetooth function module, a WiFi function module, a microprocessor module, a storage module, and a power supply module, and the Bluetooth function module is used to obtain the user's position The WiFi function module is used to forward positioning data and communicate with the cloud server, the micro-processing module is used to process and send positioning data, and perform energy-saving control of the Bluetooth function module and the WiFi function module, and the storage The module is used to store the position coordinate information of the transmission node, the power module is used to supply power to the transmission node; the working state of the transmission node includes a working mode, a waiting mode and an intermittent sleep mode.
8. The indoor positioning control system according to claim 6 or 7, characterized in that it further comprises:

   Area division module: used to evenly divide the current positioning plane into n*m positioning sub-areas according to the size of the current positioning plane, and each positioning sub-area is numbered by matrix elements a _{i, j} ; and each positioning sub-area Evenly divided into p*k trigger areas with length and width of c, d, each trigger area is numbered by matrix elements b _{t, r} ; wherein, the trigger area of the positioning sub-area includes independent trigger area and adjacent trigger area. Area and common trigger area.
9. The indoor positioning control system according to claim 8, wherein the cloud server specifically comprises:

   Positioning area calculation module: used to calculate the current positioning sub-area of the user through the box algorithm based on the positioning data, obtain the boundary point coordinates according to the positioning sub-area, and obtain the corresponding matrix element number and trigger of the positioning sub-area according to the boundary point coordinates. The area corresponds to the number of the matrix element; among them, the coordinate of the boundary point A is reduced, X _A /a, Y _A /b is rounded down to get the number of the matrix element of the positioning sub-area x _A , y _A , element

   

   The representative positioning sub-region is the location of boundary point A:

   

   Perform two reduction operations on the location of the boundary point A to obtain the number of the matrix element corresponding to the trigger area. X _A and Y _A modulate a and b respectively to obtain the relative coordinates (x ₁ , y ₁ ) in the positioning sub-region, Round down x ₁ /c and y ₁ /d to get the subscripts x _a , y _b , elements of the trigger area matrix

   

   The representative trigger area is the specific range of boundary point A in the positioning sub-area:

   

   Control matrix calculation module: used to assign values to the elements of the positioning sub-area according to the positioning sub-area number calculated by the boundary point coordinates, and to construct the positioning sub-area matrix s _{A of the} boundary point A according to the assignment; the trigger area number calculated according to the boundary point coordinates Assign values to the elements of the trigger area to construct the boundary point trigger area matrix s′ _A ; the sum of the positioning sub-area matrix and the trigger area matrix constitutes the control matrix of the boundary point A, and the sum of the control matrices of the four boundary points constitutes the energy-saving control Matrix S;

   S=∑(s+s').
10. The indoor positioning control system according to claim 9, wherein the cloud server generates a control instruction according to the value of each element in the energy-saving control matrix, and broadcasts the control instruction to the transmission node, and the transmission node The working status is controlled specifically as follows: an element assigned a value of 0 indicates that the positioning sub-area represented by the element is not approached by a user, and the transmission node in the area enters intermittent sleep mode; an element assigned a value of greater than 0 and less than 5 indicates that the user is close to the positioning sub-area, The transmission node in the area enters the waiting mode; the element with a value greater than or equal to 5 indicates that the user is in the location sub-area or the user will arrive in the area, the transmission node in the area enters the working mode, and the element with a value of 8 indicates that the boundary point is located in the location In the sub-area, the transmission nodes in the positioning sub-area are in working mode.
11. An electronic device including:

    At least one processor; and

    A memory communicatively connected with the at least one processor; wherein,

    The memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the indoor positioning described in any one of 1 to 5 above The following operations of the control method:

    Step a: Obtain the user's positioning data through the transmission node;

    Step b: Based on the positioning data, the cloud server calculates the positioning sub-area where the user is currently located through the box algorithm, and calculates the positioning sub-area matrix and the trigger area matrix respectively according to the boundary point coordinates of the positioning sub-area, and according to the Position the sub-area matrix and the trigger area matrix to obtain the energy-saving control matrix;

    Step c: Generate a control instruction according to the energy-saving control matrix, and broadcast the control instruction to a transmission node to control the working state of the transmission node.

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