WO2020259107A1 - 定位控制方法、装置、定位系统及存储介质 - Google Patents

定位控制方法、装置、定位系统及存储介质 Download PDF

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Publication number
WO2020259107A1
WO2020259107A1 PCT/CN2020/089870 CN2020089870W WO2020259107A1 WO 2020259107 A1 WO2020259107 A1 WO 2020259107A1 CN 2020089870 W CN2020089870 W CN 2020089870W WO 2020259107 A1 WO2020259107 A1 WO 2020259107A1
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WO
WIPO (PCT)
Prior art keywords
positioning
target
frequency
beacon
prompt message
Prior art date
Application number
PCT/CN2020/089870
Other languages
English (en)
French (fr)
Inventor
邓伟
关红涛
史宝玉
李志超
李彦孚
Original Assignee
京东方科技集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Priority to US17/281,789 priority Critical patent/US11553452B2/en
Publication of WO2020259107A1 publication Critical patent/WO2020259107A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01S5/0205—Details
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • 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
    • H04W4/029—Location-based management or tracking services
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • This application relates to the field of positioning technology, in particular to a positioning control method, device, positioning system and storage medium.
  • the use time of the positioning beacon (Beacon) has a great impact on the hardware update and positioning accuracy of the positioning system. Therefore, the power consumption of the positioning beacon is reduced, and the power consumption of the positioning beacon is increased.
  • the use time is of great significance to the indoor positioning system. At present, the use time of the positioning beacon can be extended by charging the positioning beacon.
  • the purpose of this application is to provide a positioning control method, device, positioning system, and storage medium.
  • a positioning control method including:
  • determining, according to the position of the positioning target, a target positioning beacon whose distance to the positioning target satisfies a preset condition includes: predicting and comparing the positioning target's movement trajectory obtained in advance with the positioning target The target positioning beacons whose distances satisfy the preset condition.
  • the method further includes: generating a movement track of the positioning target according to the historical position of the positioning target acquired within a first preset time period.
  • determining a target positioning beacon whose distance to the positioning target satisfies a preset condition according to the position of the positioning target includes: determining the position closest to the positioning target according to the position of the positioning target Target, determining that a positioning target whose distance to the nearest positioning target is less than a threshold is the target positioning beacon.
  • sending a prompt message to the target positioning beacon includes: notifying the positioning target to send the prompt message to the target positioning beacon.
  • the method further includes: sending a control message to the positioning target, where the control message is used to instruct the positioning target to shorten the scanning duration of the broadcast message sent by scanning the positioning beacon.
  • the determining the position of the positioning target includes: determining the position of the positioning target based on information of the positioning beacon detected by the positioning target.
  • the information of the positioning beacon includes a unique identification code of the positioning beacon
  • the memory stores the correspondence between the unique identification code and the position coordinates of the positioning beacon, and determining based on the information of the positioning beacon detected by the positioning target
  • the position of the positioning target includes: reading the position coordinates of the at least three positioning beacons from the memory based on the unique identification codes of the at least three positioning beacons detected by the positioning target; The position coordinates of the positioning beacon are used to determine the position of the positioning target through a three-point positioning algorithm.
  • a positioning control method including: sending a broadcast message at a first frequency; acquiring a prompt message, wherein the prompt message is used to instruct the positioning beacon to switch the broadcasting frequency from the first frequency Is the second frequency, the prompt message is generated after the positioning target is detected; based on the prompt message, the broadcast frequency is switched from the first frequency to the second frequency; the broadcast is sent on the second frequency Message, wherein the second frequency is greater than the first frequency.
  • obtaining the prompt message includes: obtaining the prompt message from the positioning target, or obtaining the prompt message broadcast by a target positioning beacon, wherein the distance between the target positioning beacon and the positioning target Meet the preset conditions.
  • the method further includes: after the broadcasting frequency is switched from the first frequency to the second frequency, when no instruction message to change the broadcasting frequency is received within a second preset time period, broadcasting The frequency is switched from the second frequency to the first frequency.
  • a positioning control device including: at least one module, the at least one module can be used to implement the first aspect or any one of the positioning control methods of the first aspect.
  • a positioning control device including: at least one module, which can be used to implement the first aspect or any positioning control method of the first aspect.
  • a positioning control device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the first aspect is any positioning control method.
  • a positioning control device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. Apply for any positioning control method in the second aspect.
  • a non-transitory computer-readable storage medium the non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the first invention Aspect and any one of the positioning control methods described in the second aspect.
  • a positioning system includes: a plurality of positioning beacons and a positioning control device, the positioning control device and the positioning beacon satisfy at least one of the following conditions:
  • the positioning control device includes the positioning control device according to any one of the third aspect, and the positioning beacon includes the positioning control device according to any one of the fourth aspect.
  • a positioning system includes: a plurality of positioning beacons and a positioning control device, the positioning control device and the positioning beacon satisfy at least one of the following conditions:
  • the positioning control device includes the positioning control device according to any one of the fifth aspect, and the positioning beacon includes the positioning control device according to any one of the sixth aspect.
  • the present application provides a computer program product, the computer program product including computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes any positioning control method of the first aspect described above.
  • the present application provides a computer program product, the computer program product including computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes any positioning control method of the second aspect described above.
  • a chip is provided.
  • the chip may include a programmable logic circuit and/or program instructions, and is used to implement any positioning control method as in the first aspect when the chip is running.
  • a chip which may include a programmable logic circuit and/or program instructions, and is used to implement any positioning control method as in the second aspect when the chip is running.
  • Fig. 1 is a schematic diagram showing an application scenario of a positioning system corresponding to a positioning control method provided in an embodiment of the present application according to an exemplary embodiment
  • FIG. 2 is a schematic diagram showing an application scenario of a positioning system corresponding to a positioning control method provided by an embodiment of the present application according to another exemplary embodiment
  • FIG. 3 is a schematic plan view of a positioning system involved in a positioning control method provided in an exemplary embodiment of the present application deployed in a shopping mall;
  • Fig. 4 is a flowchart showing a positioning control method according to an exemplary embodiment
  • Fig. 5 is a flowchart showing a method for determining a positioning target according to an exemplary embodiment
  • Fig. 6 is a schematic diagram showing a movement track of a positioning target according to an exemplary embodiment
  • Fig. 7 is a flow chart showing a positioning control method according to an exemplary embodiment
  • Fig. 8 is a working schematic diagram of a positioning system according to an exemplary embodiment
  • Fig. 9 is a block diagram showing a positioning control device according to an exemplary embodiment
  • Fig. 10 is a block diagram showing a positioning control device according to an exemplary embodiment
  • Fig. 11 is a block diagram showing a positioning control device according to an exemplary embodiment
  • Fig. 12 is a schematic structural diagram of a positioning control device according to an exemplary embodiment.
  • Fig. 1 is a schematic diagram showing an application scenario of a positioning system corresponding to a positioning control method provided in an embodiment of the present application according to an exemplary embodiment.
  • the positioning system involved in this application scenario includes multiple positioning beacons (positioning beacons 101a to 101c in FIG. 1 schematically represent the multiple positioning beacons), a positioning control device 102, and one or more Mobile devices (the one or more mobile devices are schematically represented by mobile devices 103a and 103b in FIG. 1).
  • the positioning system involved in this application scenario can be deployed in various areas such as shopping malls, supermarkets, office buildings, factories, storage warehouses, or parking lots.
  • the positioning system can be used to accurately locate the location of the positioning target, so that required actions can be performed based on the determined location, such as pushing specific information (such as advertisements) to the positioning target; or, recording the movement track of the positioning target to avoid positioning the target Enter into areas that are not allowed; or, guide workers to patrol the production line in the factory to prevent them from deviating from the pre-set patrol path, etc.
  • the positioning beacon in the embodiment of the present application may be, for example, a Beacon with Bluetooth function, for example, it may be a Bluetooth Beacon with low power consumption.
  • Multiple positioning beacons can be deployed at specified locations in the applied scenario, and the positioning beacons can send broadcast messages. Multiple positioning beacons are used for positioning the positioning target in the positioning system.
  • the mobile device may be installed with a module for acquiring location beacon information, for example.
  • a module for acquiring location beacon information for example.
  • it is equipped with a Bluetooth chip or electronic tag that can obtain the value of the positioning beacon RSSI (Received Signal Strength Indication), or a module that can obtain the identification of the positioning beacon, for example, an antenna can be installed to make it available To receive broadcast messages sent by location beacons.
  • RSSI Receiveived Signal Strength Indication
  • the communication module may also send a message (such as a prompt message in the subsequent embodiment) to the positioning beacon.
  • the mobile device with the aforementioned communication module is the positioning target.
  • Figure 1 schematically illustrates an example in which a Bluetooth chip is installed in a mobile device.
  • the positioning control device 102 may be a server or a server cluster or a cloud computing center.
  • the positioning control device 102 establishes a communication connection with a mobile device equipped with a Bluetooth chip (ie, a positioning target), and the positioning control device 102 is used to control the broadcast frequency of the positioning beacon to send broadcast messages based on the location of the positioning target.
  • the communication connection between the positioning control device 102 and the mobile device can be established in multiple ways, for example, through a wireless local area network, such as WiFi (Wireless Fidelity, wireless fidelity) or ZigBee (Zigbee) protocol network establishment; or, Through various generations of mobile communication networks (2G, 3G, 4G and 5G) establishment and so on.
  • a wireless local area network such as WiFi (Wireless Fidelity, wireless fidelity) or ZigBee (Zigbee) protocol network establishment; or, Through various generations of mobile communication networks (2G, 3G, 4G and 5G) establishment and so on.
  • the positioning system may also include: one or more gateways (in FIG. 1, gateways 104a to 104c are used as schematic Represents the one or more gateways).
  • the gateway can be a router or other structure.
  • the positioning control device 102 establishes a communication connection with each mobile device through one of the one or more gateways.
  • GPS Global Positioning System
  • Galileo positioning Galileo positioning
  • Beidou positioning is usually used to provide positioning services.
  • GPS Global Positioning System
  • long-term activation of GPS services consumes more power.
  • the accuracy of other cellular networks based on WIFI or General Packet Radio Service (GPRS) and other cellular networks is also subject to greater restrictions indoors.
  • the embodiment of this application uses positioning beacons to locate indoor positioning targets. Broadcast messages can be sent through multiple indoor positioning beacons.
  • the positioning target sends the detected positioning beacon information, such as signal strength information, to the positioning control.
  • the positioning control device 102 performs multi-point positioning based on the received information, thereby accurately determining the indoor location of the positioning target. This positioning method has a lower cost.
  • FIG. 3 is a schematic plan view of a positioning system involved in a positioning control method provided in an exemplary embodiment of the present application deployed in a shopping mall.
  • the positioning system deploys 11 positioning beacons, namely positioning beacon 1 to positioning beacon 11, positioning target 103a passes through positioning beacon 2, positioning beacon 3, and positioning beacon 11 in sequence during the movement, then The broadcast messages sent by location beacon 2, location beacon 3, and location beacon 11 and the signal strength information of the broadcast message are sequentially detected.
  • the positioning target 103a sends the information of the detected positioning beacon to a positioning control device (not drawn in FIG.
  • positioning beacons around the positioning target can broadcast designated information (such as advertisements) to the positioning target.
  • the location beacon 3 located in the sportswear area may broadcast a broadcast message carrying sports apparel advertisements to the positioning target;
  • the location beacon 11 located in the shoe area may broadcast a broadcast message carrying shoe advertisements to the positioning target; located in the lobby
  • the positioning beacon 4 can broadcast a broadcast message carrying a shopping mall guide map to the positioning target.
  • Fig. 4 is a flow chart showing a positioning control method according to an exemplary embodiment.
  • the method can be implemented by a positioning control device or a positioning target.
  • the method is implemented by a positioning control device as an example for description, and the process of implementing the positioning control method by the positioning target can refer to the corresponding process of the positioning control device.
  • the method includes:
  • the positioning control device may determine the position of the positioning target in various ways.
  • the positioning target itself has a positioning function, and the positioning target determines its own position and sends the position to the positioning control device.
  • the positioning target can adopt GPS positioning, Galileo positioning or Beidou positioning, or positioning based on cellular networks such as WIFI or GPRS.
  • WIFI wireless fidelity
  • the optional method is used to determine the location of the positioning target, it can be considered that S201 is a rough positioning process of the positioning target.
  • the positioning control device performs positioning through positioning beacons. Since the positioning accuracy of the indoor positioning beacon is relatively high, if this optional method is used to determine the position of the positioning target, it can be considered that S201 is an accurate positioning process of the positioning target. For example, the location of the positioning target is determined based on the information of the positioning beacon detected by the positioning target. As shown in Figure 5, the process includes:
  • S2011 Acquire the information of the first positioning beacon sent by the positioning target.
  • the information of the first positioning beacon is determined by the positioning target based on the broadcast message of the first positioning beacon obtained by scanning.
  • the broadcast message broadcast by the first positioning beacon within the area that is closer to the positioning target (for example, within the scanning range of the positioning target) in the area can be acquired.
  • the message may include at least the unique identification code of the positioning beacon.
  • the unique identification code of the positioning beacon may be the MAC (Media Access Control Address, media access control address) of the positioning beacon, or a character string used to identify the positioning beacon.
  • the positioning target determines the information of the first positioning beacon based on the broadcast message of the first positioning beacon obtained by scanning.
  • the information of the first positioning beacon includes at least one of the signal strength information of the first positioning beacon and the unique identification code of the positioning beacon.
  • the signal strength information includes RSSI (Received Signal Strength Indication, received signal strength indication).
  • the positioning target can directly extract the unique identification code.
  • the positioning target may determine the signal strength information of the first positioning beacon in many ways. For example, the positioning target may determine the signal strength information of the first positioning beacon based on the signal strength of the scanned broadcast message. Then the signal strength information includes at least information reflecting the signal strength of the scanned broadcast message, such as the aforementioned RSSI.
  • the above-mentioned first positioning beacon may be a set of positioning beacons
  • the set of positioning beacons may include at least three positioning beacons (for example, positioning may be performed through a three-point positioning algorithm based on the coordinates of the positioning beacons)
  • the set of positioning beacons may include at least three positioning beacons arranged at different positions.
  • the positioning target may scan multiple positioning beacons, and the aforementioned first positioning beacons (ie, a group of positioning beacons) can be obtained by screening among the multiple positioning beacons. For example, the first n positioning beacons with strong signal strength are selected as the first positioning beacons, and n is the set number of first positioning beacons, for example, n ⁇ 3.
  • the positioning target may scan multiple positioning beacons, and the multiple positioning beacons are directly used as the first positioning beacons.
  • S2012 Determine the location of the positioning target according to the received information of the first positioning beacon.
  • the process includes:
  • A1. Determine the position of the first positioning beacon based on the information of the first positioning beacon.
  • the positioning control device may pre-store the correspondence between the information of each positioning beacon and the position of the positioning beacon.
  • the positioning control device may pre-store the corresponding relationship between the unique identification code (for example, MAC address) of each positioning beacon and the position coordinates of the positioning beacon. Therefore, after obtaining the unique identification code of the positioning beacon, the positioning control device can usually query the corresponding relationship to obtain the position coordinates of the positioning beacon, and the position coordinates of the positioning beacon are used to indicate the position of the positioning beacon.
  • the unique identification code for example, MAC address
  • A2. Determine the position of the positioning target according to the position of the first positioning beacon.
  • the positioning control device may determine the position of the positioning target through a three-point positioning algorithm based on the position of the first positioning beacon.
  • the signal strength information (such as RSSI value) of the first positioning beacon (such as at least three positioning beacons) in S2011 three of the positioning beacons can be selected, and according to the signal strength information of the three positioning beacons Determine the distance between the positioning target and the three positioning beacons, and then based on the distance between the positioning target and the three positioning beacons, and the position of the three positioning beacons (for example, using position coordinates), pass The three-point positioning algorithm determines the location of the positioning target.
  • the positions of the three positioning beacons are respectively taken as points, and each point (that is, the positioning beacon corresponding to the point)
  • the distance from the positioning target is used as the radius to draw a circle, and the intersection of the three circles is the position of the positioning target.
  • the obtained signal strength of at least three positioning beacons may be used.
  • the information determines the distance between the positioning target and each positioning beacon. For every three positioning beacons of the at least three positioning beacons, based on the distance between the positioning target and the three positioning beacons and the positions of the three positioning beacons, the three-point positioning algorithm determines the location of the positioning target. position. Finally, the average position of the position of the positioning target determined by every three positioning beacons can be used as the final position of the positioning target. In this way, the accuracy of the determined position of the positioning target can be improved.
  • the distance between the positioning target and the positioning beacons 1 to 3 and the position of the positioning beacons 1 to 3 can be used to locate by three points
  • the algorithm determines the location of the positioning target 1. Based on the distance between the positioning target and the positioning beacons 1, 2, 4, and the position of the positioning beacons 1, 2, 4, the three-point positioning algorithm determines the location of the positioning target.
  • Position 2 Based on the distance between the positioning target and the positioning beacons 1, 3, 4, and the position of the positioning beacons 1, 3, 4, the position of the positioning target can be determined by the three-point positioning algorithm 3; It can be based on the positioning The distance between the target and the positioning beacons 2, 3, 4, and the positions of the positioning beacons 2, 3, 4, the position of the positioning target 4 is determined by the three-point positioning algorithm. Finally, the average position of positions 1 to 4 of the positioning target can be used as the final positioning target position.
  • the positioning control device may determine the position of the positioning target in another manner based on the position of the first positioning beacon. For example, after obtaining the signal strength information (such as RSSI value) of the first positioning beacon (such as at least three positioning beacons) in S2011, the first m with stronger signal strength information may be selected from the at least three positioning beacons Positioning beacon, m ⁇ 3, based on the acquired positions of m positioning beacons, determine the smallest circumscribed circle including the m positioning beacons, and use the position of the center of the smallest circumscribed circle as the position of the positioning target.
  • the signal strength information such as RSSI value
  • the first positioning beacon such as at least three positioning beacons
  • the first m with stronger signal strength information may be selected from the at least three positioning beacons Positioning beacon, m ⁇ 3, based on the acquired positions of m positioning beacons, determine the smallest circumscribed circle including the m positioning beacons, and use the position of the center of the smallest circumscribed circle as the position of the positioning target.
  • S202 Determine a target positioning beacon whose distance to the positioning target meets a preset condition according to the position of the positioning target.
  • the target positioning beacon whose distance to the positioning target meets the preset condition may be, for example, the positioning beacon B1 closest to the positioning target in the area where the positioning target is currently located, or,
  • the target positioning beacons may also include positioning beacons B2 to B8 whose distances from the positioning beacons closest to the positioning target are less than a preset distance.
  • the positioning target may scan multiple positioning beacons, and all the information of the positioning beacons are sent to the positioning control device. If the information of the multiple positioning beacons is processed to determine the target positioning beacon whose distance meets the preset condition, it will cause a large calculation overhead and affect the calculation efficiency. Therefore, before S202, the positioning control device may filter the received information of multiple positioning beacons to reduce the number of target positioning beacons whose determined distance meets the preset condition. For example, among the acquired information of multiple positioning beacons, the first k positioning beacons with strong signal strength are selected as candidate positioning targets. This process can be called a beacon selection process, where k is the set of candidate positioning targets. The number, for example, k ⁇ 3. The target positioning target determined in S202 is a candidate positioning target.
  • S203 Send a prompt message to the target positioning beacon.
  • the positioning control device may notify the positioning target to send a prompt message to the target positioning beacon.
  • the prompt message is used to instruct the positioning beacon to switch the broadcasting frequency from the first frequency to the second frequency, where the second frequency is greater than the first frequency.
  • the first frequency may be the broadcasting frequency of the positioning beacon when the positioning beacon is in low power consumption
  • the second frequency may be the broadcasting frequency required when the positioning beacon is used for positioning.
  • the value range of the second frequency needs to be determined according to the requirements of each positioning response speed.
  • the broadcast interval can be 500ms
  • the corresponding frequency can be 2Hz.
  • the value range of the first frequency can be determined according to the system power consumption requirements and/or the moving speed of the positioning target. The lower the power consumption is required, the smaller the value of the first frequency can be, but in order not to affect the positioning, when the positioning target moves to the next positioning area, the target positioning beacon needs to have received the prompt message and increase the broadcast frequency to The second frequency.
  • the positioning target can be notified to send a prompt message to B1 to control B1 to broadcast the prompt message so that the positioning beacons around B1 (such as positioning beacons B2 to B8) )
  • the prompt message can be obtained by scanning; if the target positioning beacon includes positioning beacons B1 to B8, the positioning target can be notified to send the prompt message to the positioning beacons B1 to B8, or the positioning target is still notified
  • the prompt message is sent to the positioning beacon B1, so that B1 broadcasts the prompt message, so that the positioning beacons B2 to B8 can obtain the prompt message by scanning.
  • the positioning beacons B1 to B8 can switch their broadcasting frequencies from the first frequency to the second frequency.
  • the prompt message may be generated by the positioning control device, and it may carry the unique identification code of the positioning beacon (ie, target positioning beacon) that needs to receive the prompt message.
  • the positioning beacon ie, target positioning beacon
  • each positioning beacon that receives the prompt message can determine whether it is a target positioning beacon, and if it is a target positioning beacon, it will set its own The broadcast frequency is switched from the first frequency to the second frequency.
  • the positioning control method of the embodiment of the present application after positioning the positioning target, it sends a prompt message to the target positioning beacon whose distance from the positioning meets the preset condition, so that the target positioning beacon can increase its own broadcasting frequency, but not monitored.
  • a lower broadcast frequency can be used, thereby reducing the power consumption of the positioning beacon in the positioning process and extending the use time of the positioning beacon.
  • increasing the broadcast frequency of the positioning beacon according to the prompt message can also shorten the positioning response time and improve the positioning response efficiency.
  • the position accuracy of the acquired positioning target is low; if the second optional method is used for positioning the positioning target, it is accurate.
  • the low frequency of positioning beacons will still affect positioning accuracy. Therefore, after the target positioning beacon switches the first frequency to the second frequency, positioning is performed again through the positioning beacon, that is, the second optional method of step S201 is performed again to obtain more accurate positioning. The location of the target.
  • the process of determining a target positioning beacon whose distance from the positioning target meets a preset condition according to the position of the positioning target may include: predicting the distance between the positioning target and the positioning target based on the movement trajectory of the positioning target acquired in advance.
  • the target positioning beacon whose distance meets the preset conditions may include: predicting the distance between the positioning target and the positioning target based on the movement trajectory of the positioning target acquired in advance.
  • the positioning target moves in the positioning system, its travel has a certain trajectory, so that when it moves between positioning beacons, there is a certain correlation between the front and back positioning beacons.
  • the motion trajectory of the positioning target reflects to a certain extent the law of the positioning target moving in the positioning system and the correlation between the positioning beacons. Using the motion trajectory of the positioning target to predict the target positioning beacon can improve the determined target positioning beacon Accuracy, and flexibility.
  • the process of generating the trajectory of the positioning target includes:
  • the movement trajectory of the positioning target is generated according to the historical position of the positioning target acquired in the first preset time period; the movement trajectory can be as shown in Figure 6, where B1 to B8 are positioning beacons around the positioning target, Figure 6
  • the number 1 in the beacon is used to indicate the location beacon.
  • the larger dot corresponding to the beacon in Figure 6 indicates that the signal strength of the location beacon is stronger, and the smaller dot corresponding to the beacon indicates that the signal strength of the location beacon is weak.
  • 2 indicates the positioning target
  • the number 3 indicates the movement track of the positioning target 2
  • the star in FIG. 6 indicates the current position of the positioning target 2.
  • the prediction process of the target positioning beacon includes: predicting a target positioning beacon whose distance from the positioning target meets a preset condition according to the motion track.
  • the movement trend of the positioning target can be determined according to the movement trajectory of the positioning target, and the movement direction of the positioning target can be determined according to the movement trend of the positioning target.
  • the current position of the positioning target can be determined according to the average speed of the positioning target movement.
  • the current location of the positioning target determines the target positioning beacon whose distance to the positioning target meets the preset condition.
  • the positioning beacon that the positioning target will pass can be inferred. For example, as shown in FIG.
  • the positioning target 2 is about to pass the positioning beacons B1, B2, B3, B4, B5, and B8, and the inferred positioning target is about to pass the positioning beacon as the target positioning beacon.
  • B1, B2, B3, B4, B5, and B8 are target positioning beacons. Based on this, before the positioning target reaches the target positioning beacon, the target positioning beacon can be controlled to adjust its broadcasting frequency, thereby improving the response efficiency of the positioning beacon.
  • the aforementioned motion trajectory can be determined based on an artificial intelligence algorithm.
  • the aforementioned target positioning beacon which is predicted based on the pre-acquired movement track of the positioning target and the distance between the positioning target and the positioning target meets the preset condition, can also be implemented based on an artificial intelligence algorithm.
  • the process of determining a target positioning beacon whose distance from the positioning target meets a preset condition according to the position of the positioning target may include: determining the positioning target closest to the positioning target according to the position of the positioning target, It is assumed that the positioning target is the third positioning target; the positioning target whose distance to the third positioning target is less than the threshold is determined to be the target positioning beacon.
  • the positioning target scans the broadcast message of the Beacon around it and uploads the positioning information obtained from the broadcast message to the positioning control device.
  • the positioning control device can select the three positioning beacons with the strongest signal strength (such as the largest RSSI value) , Calculate the distance d between the positioning target and the positioning beacon according to formula (1).
  • A is the signal strength (in dB) when the transmitting end (such as a positioning beacon) and the receiving end (such as a positioning target) are separated by 1 meter, and n is the environmental attenuation factor.
  • the unique identification code of the positioning beacon such as the MAC address
  • the memory the corresponding relationship between the MAC address and the position coordinates of the positioning beacon can be pre-stored in the positioning control device
  • the position P(x, y) of the positioning target is calculated, and this position is stored in the memory, and the trajectory of the positioning target can also be formed according to the position.
  • the distance PBn between the positioning target and the Beacon is calculated.
  • the smallest value is selected as B1, that is, the Beacon closest to the positioning target. It is determined that the distance from the positioning target to other positioning beacons meets the preset condition, for example, it is determined that the distance between the Beacon whose distance to the positioning beacon B1 is less than the threshold and the positioning target meets the preset condition.
  • the positioning control method provided in the embodiment of the present application may further include: sending a control message to the positioning target after notifying the positioning target to send a prompt message to the target positioning beacon, the control message being used to indicate the positioning target Shorten the scanning time for scanning broadcast messages sent by location beacons.
  • the positioning control device can send a control message to the positioning target to control the positioning target to shorten the scanning time. After receiving the control message, the positioning target can shorten its scanning time according to the control message.
  • the positioning control method of the embodiment of the present application after positioning the positioning target, sends a prompt message to the target positioning beacon whose positioning distance meets the preset condition, so that the target positioning beacon can increase its own broadcasting frequency , Thereby shortening the positioning response time and improving the efficiency of positioning response.
  • a lower broadcast frequency can be used, which can reduce the power consumption of the positioning beacon during the positioning process and extend the use time of the positioning beacon. In this way, the power consumption of the entire positioning system can be reduced, and the service life of the positioning beacon in the positioning system can be increased.
  • the positioning control method provided by the embodiments of the present application can save the energy consumption of the positioning beacon without adding additional hardware (such as a charging device) to the positioning beacon, thereby reducing the manufacturing and use cost of the positioning beacon.
  • the power consumption of the positioning target can be reduced by appropriately reducing the scanning time.
  • Fig. 7 is a flowchart showing a positioning control method according to an exemplary embodiment.
  • the method may be executed by, for example, a positioning beacon.
  • the positioning beacon is a second positioning beacon
  • the second positioning beacon may be a target positioning beacon in the foregoing embodiment.
  • the method includes:
  • S301 Send a broadcast message at the first frequency.
  • the broadcast message includes location beacon information; wherein, the location beacon information may include, for example, the unique identification code of the location beacon, and the unique identification code may be, for example, the MAC address of the location beacon.
  • the prompt message is used to instruct the positioning beacon to switch the broadcast frequency from the first frequency to the second frequency.
  • the prompt message is generated after the positioning target is detected. For example, it can be generated by a positioning control device or a positioning Target generation.
  • the prompt message also prompts that the positioning target is detected.
  • the prompt message may be obtained from the positioning target.
  • the second positioning beacon may be considered as the positioning beacon closest to the positioning target in the area where the positioning target is located.
  • the second positioning beacon may broadcast the prompt message.
  • the prompt message may be broadcast on the first frequency, or after switching its own broadcasting frequency to the second frequency, the prompt message may be broadcast on the second frequency.
  • the prompt message may also be obtained from other target positioning beacons, and the other target positioning beacons are any one of the positioning beacons whose distance to the positioning target meets the preset condition.
  • the other target positioning beacon is different from the second positioning beacon.
  • the prompt message may be obtained from a third positioning beacon, and the third positioning beacon is the positioning beacon that is closest to the positioning target in the area where the positioning target is located.
  • the second positioning beacon can be considered as any one of the positioning beacons whose distance from the positioning target meets the preset condition.
  • S304 Send the broadcast message at the second frequency, where the second frequency is greater than the first frequency.
  • a prompt message may also be sent at the second frequency at the same time, so that other positioning beacons (such as The target positioning beacon whose distance between the positioning targets meets the preset condition can obtain the prompt message, thereby switching its own broadcast frequency from the first frequency to the second frequency according to the prompt message.
  • the broadcast message is sent at a certain frequency before obtaining the prompt message that the positioning target is detected, and after the prompt message is obtained, the broadcast frequency is increased, which can realize that before the positioning target is detected, A broadcast message is sent at a lower frequency, and after a positioning target is detected, a broadcast message is sent at a higher frequency. Therefore, before the positioning target is detected, the power consumption of the positioning beacon can be reduced during the positioning process, and the service life of the positioning beacon can be prolonged. In addition, increasing the broadcast frequency of the positioning beacon according to the prompt message can also shorten the positioning response time and improve the positioning response efficiency.
  • the process of obtaining the prompt message may include: obtaining the prompt message from the positioning target, or obtaining the prompt message broadcasted by the target positioning beacon, where the target positioning beacon is associated with the area where the positioning target is located.
  • the positioning beacon whose distance to the positioning target meets the preset conditions.
  • a prompt message broadcast by a third positioning beacon is obtained, where the third positioning beacon is the positioning beacon with the closest distance to the positioning target in the area where the positioning target is located.
  • the prompt message may be obtained from the positioning target.
  • the prompt message broadcast by the third positioning beacon can be obtained.
  • the third positioning beacon may be The location beacon closest to the location target in the area where the location target is located.
  • the positioning control method may further include: after the broadcast frequency is switched from the first frequency to the second frequency, when no instruction message to change the broadcast frequency is received within a second preset time period, Switch the broadcast frequency from the second frequency to the first frequency, so that the positioning beacon can be kept in a low power consumption state. For example, you can set Beacon to automatically reduce high-frequency broadcasting to low-frequency broadcasting when it does not receive the control information of the broadcasting frequency within time T.
  • the broadcasting frequencies of multiple positioning beacons in the same area may be different.
  • the broadcast frequency of location beacons at the edge of the area may be set to the third frequency
  • the broadcast frequency of location beacons in other locations may be set to the fourth frequency.
  • the third frequency is greater than the fourth frequency (the fourth frequency may be the same as the aforementioned first frequency, for example).
  • setting the broadcasting frequency of location beacons at the entrance of the area to the third frequency, and setting the broadcasting frequency of location beacons in other locations in the area to the fourth frequency can improve the response efficiency of the positioning system.
  • the third frequency is determined by the response speed requirements of the positioning system. The higher the third frequency, the shorter the scanning time and the faster the response time of the positioning system.
  • the positioning control method may involve positioning beacons, target positioning items (an example of the above positioning target), gateways, positioning control equipment, and the like.
  • the positioning beacon can be used to transmit a broadcast message (for example, the broadcast message may include the unique positioning beacon Identification) and a prompt message for indicating detection of a positioning target.
  • the broadcast message may include the unique positioning beacon Identification
  • a prompt message for indicating detection of a positioning target.
  • the positioning beacon may be a low-power Bluetooth Beacon; for example, a module for acquiring the signal strength of the positioning beacon may be installed on the positioning target, and the module can obtain Beacon RSSI value Bluetooth chip, etc.; the gateway (not shown in Figure 8) can be used to receive the positioning information uploaded by the positioning target, such as the positioning beacon information in the foregoing embodiment, and the positioning information includes: signal strength information (such as the positioning beacon RSSI value) and the corresponding unique identification code of the positioning beacon (such as the MAC address of the positioning beacon), and at the same time convey the control information issued by the positioning control device, such as the prompt message described in the foregoing embodiment; the positioning control device can be used to locate the target
  • the uploaded location beacon information calculates the location of the location target.
  • the positioning control device may also control the positioning beacon closest to the positioning target to send a prompt message to the surroundings (the prompt message may indicate that the positioning target is detected), so that other surrounding positioning beacons adjust the broadcast frequency according to the received prompt message.
  • the positioning beacons closest to the positioning target and other surrounding positioning beacons belong to the nearby positioning beacons shown in FIG. 8.
  • the positioning control device in FIG. 8 can be located on the background server, such as a server, or on the positioning target.
  • the positioning control method may include: when the positioning target is not detected in the positioning system, the positioning beacon sends a broadcast message at low frequency F1, and the broadcast message may contain the unique identification code of the positioning beacon, such as MAC address, etc. ;
  • the positioning target scans the broadcast messages of the positioning beacons around it to obtain the signal strength information of the positioning beacon, such as RSSI and the MAC address of the positioning beacon, and the obtained positioning signal
  • the target information is uploaded through the gateway or directly transmitted to the positioning control device.
  • the uploaded information can be stored in the memory of the positioning control device; the positioning control device executes the three-point positioning algorithm according to the received information uploaded by the positioning target to obtain the location of the positioning target; The positioning control device determines the B1 closest to the positioning target according to the location of the positioning target, and other beacons around B1, or other beacons (B2 ⁇ B8) predicted by the positioning control device according to the motion trajectory of the positioning target, and will detect it through the positioning target
  • the prompt message of the positioning target is passed to B1, and then broadcasted by B1 to other Beacons (B2 ⁇ B8) nearby.
  • the Beacon (B1 ⁇ B8) receiving the prompt message switches its broadcasting frequency from F1 to F2 (F2>F1) .
  • the positioning control method of the embodiment of the present application after positioning the positioning target, sends a prompt message to the target positioning beacon whose positioning distance meets the preset condition, so that the target positioning beacon can increase its own broadcasting frequency , Thereby shortening the positioning response time and improving the efficiency of positioning response.
  • a lower broadcast frequency can be used, which can reduce the power consumption of the positioning beacon during the positioning process and extend the use time of the positioning beacon. In this way, the power consumption of the entire positioning system can be reduced, and the service life of the positioning beacon in the positioning system can be increased.
  • the positioning control method provided in the embodiments of the present application can save the energy consumption of the positioning beacon without adding additional hardware (such as a charging device) to the positioning beacon, thereby reducing the manufacturing and use cost of the positioning beacon.
  • An embodiment of the present application provides a positioning control device, including: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the following steps when the computer program is executed:
  • determining, according to the position of the positioning target, a target positioning beacon whose distance to the positioning target satisfies a preset condition includes: predicting and comparing the positioning target's movement trajectory obtained in advance with the positioning target The target positioning beacon whose distance meets the preset condition; or, according to the position of the positioning target, determine the positioning target with the closest distance to the positioning target, and determine that the distance to the nearest positioning target is less than The threshold positioning target is the target positioning beacon.
  • the step further includes: generating a movement track of the positioning target according to the historical position of the positioning target acquired within a first preset time period.
  • sending a prompt message to the target positioning beacon includes: notifying the positioning target to send the prompt message to the target positioning beacon.
  • the step further includes: sending a control message to the positioning target, the control message being used to instruct the positioning target to shorten the scanning duration of the broadcast message sent by scanning the positioning beacon.
  • the determining the position of the positioning target includes: determining the position of the positioning target based on information of the positioning beacon detected by the positioning target.
  • the information of the positioning beacon includes a unique identification code of the positioning beacon
  • the memory stores the correspondence between the unique identification code and the position coordinates of the positioning beacon, and determining based on the information of the positioning beacon detected by the positioning target
  • the position of the positioning target includes: reading the position coordinates of the at least three positioning beacons from the memory based on the unique identification codes of the at least three positioning beacons detected by the positioning target; The position coordinates of the positioning beacon are used to determine the position of the positioning target through a three-point positioning algorithm.
  • An embodiment of the present application provides a positioning control device, including: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the following steps when the computer program is executed: Sending a broadcast message on the first frequency; acquiring a prompt message, where the prompt message is used to instruct the positioning beacon to switch the broadcasting frequency from the first frequency to the second frequency, and the prompt message is generated after the positioning target is detected; Based on the prompt message, the broadcast frequency is switched from the first frequency to the second frequency; the broadcast message is sent at the second frequency, wherein the second frequency is greater than the first frequency.
  • obtaining the prompt message includes: obtaining the prompt message from the positioning target, or obtaining the prompt message broadcast by a target positioning beacon, wherein the distance between the target positioning beacon and the positioning target Meet the preset conditions.
  • the step further includes: after the broadcasting frequency is switched from the first frequency to the second frequency, when no instruction message to change the broadcasting frequency is received within a second preset time period, broadcasting The frequency is switched from the second frequency to the first frequency.
  • Fig. 9 is a block diagram showing a positioning control device according to an exemplary embodiment.
  • the device 40 includes: a first determining module 41 for determining the position of a positioning target; and a second determining module 42, It is used to determine a target positioning beacon whose distance to the positioning target meets a preset condition according to the position of the positioning target; the first sending module 43 is used to send a prompt message to the target positioning beacon, the The prompt message is used to instruct the positioning beacon to switch the broadcast frequency from the first frequency to the second frequency, where the second frequency is greater than the first frequency.
  • the second determining module 42 is configured to predict the target whose distance from the positioning target meets the preset condition according to the movement track of the positioning target obtained in advance. Location beacon.
  • the second determining module 42 is configured to: determine the positioning target that is closest to the positioning target according to the position of the positioning target, and determine that the distance to the nearest positioning target is less than a threshold
  • the positioning target is the target positioning beacon.
  • the device 40 further includes: a second sending module 44, configured to send a control message to the positioning target, and the control message is used to instruct the positioning target to shorten Scanning time of broadcast messages sent by scanning location beacons.
  • the device further includes: a trajectory generating module, configured to generate a motion trajectory of the positioning target according to the historical position of the positioning target acquired within a first preset time period.
  • the first sending module 43 is configured to notify the positioning target to send the prompt message to the target positioning beacon.
  • the first determining module 41 is configured to determine the position of the positioning target based on the information of the positioning beacon detected by the positioning target.
  • the first determining module 41 is configured to determine the position of the positioning target through a three-point positioning algorithm based on the information of at least three positioning beacons detected by the positioning target.
  • the information of the positioning beacon includes a unique identification code of the positioning beacon.
  • the first determining module 41 is configured to: based on the unique identification codes of the at least three positioning beacons detected by the positioning target, from the unique identification code and The corresponding relationship of the position coordinates of the positioning beacons is inquired to obtain the position coordinates of the at least three positioning beacons; based on the position coordinates of the at least three positioning beacons, the position of the positioning target is determined by a three-point positioning algorithm.
  • Fig. 11 is a block diagram showing a positioning control device according to an exemplary embodiment. As shown in Fig. 11, the device 50 includes:
  • the broadcasting module 51 is used to send broadcast messages at the first frequency; the obtaining module 52 is used to obtain prompt messages, where the prompt message is used to instruct the positioning beacon to switch the broadcasting frequency from the first frequency to the second frequency, so The prompt message is generated after the positioning target is detected; the switching module 53 is used to switch the broadcasting frequency from the first frequency to the second frequency based on the prompt message; the broadcasting module 51 is used to The broadcast message is sent on the second frequency, wherein the second frequency is greater than the first frequency.
  • the acquisition module 52 is configured to: acquire the prompt message from the positioning target, or obtain the prompt message broadcast by the target positioning beacon, wherein the target positioning beacon The distance to the positioning target satisfies a preset condition.
  • the switching module 53 is further configured to: after the broadcasting frequency is switched from the first frequency to the second frequency, no change broadcasting is received within a second preset time period. Switching the broadcast frequency from the second frequency to the first frequency during the frequency indication message.
  • the embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor implements any of the above-mentioned positioning controls when the program is executed. method.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute any of the above-mentioned positioning control method.
  • Fig. 12 is a schematic structural diagram showing a positioning control device according to an exemplary embodiment.
  • the positioning control device is the aforementioned positioning control device, for example, it is one or more servers.
  • the positioning control device 600 includes a central processing unit (CPU) 601, a system memory 604 including a random access memory (RAM) 602 and a read only memory (ROM) 603, and a system bus connecting the system memory 604 and the central processing unit 601 605.
  • the positioning control device 600 also includes a basic input/output system (I/O system) 606 that helps to transfer information between various devices in the computer, and a large-scale system for storing the operating system 613, application programs 614, and other program modules 615. Capacity storage device 607.
  • I/O system basic input/output system
  • the basic input/output system 606 includes a display 608 for displaying information and an input device 609 such as a mouse and a keyboard for the user to input information.
  • the display 608 and the input device 609 are both connected to the central processing unit 601 through the input and output controller 610 connected to the system bus 605.
  • the basic input/output system 606 may also include an input and output controller 610 for receiving and processing input from multiple other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input and output controller 610 also provides output to a display screen, a printer, or other types of output devices.
  • the mass storage device 607 is connected to the central processing unit 601 through a mass storage controller (not shown) connected to the system bus 605.
  • the mass storage device 607 and its associated computer readable medium provide non-volatile storage for the positioning control device 600. That is, the mass storage device 607 may include a computer-readable medium (not shown) such as a hard disk or a CD-ROM drive.
  • the computer-readable media may include computer storage media and communication media.
  • Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data.
  • Computer storage media include RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storage technologies, CD-ROM, DVD or other optical storage, tape cartridges, magnetic tape, disk storage or other magnetic storage devices.
  • RAM random access memory
  • ROM read-only memory
  • EPROM Erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • the positioning control device 600 may also be connected to a remote computer on the network through a network such as the Internet to operate. That is, the positioning control device 600 can be connected to the network 612 through the network interface unit 611 connected to the system bus 605, or in other words, the network interface unit 611 can also be used to connect to other types of networks or remote computer systems (not shown) Out).
  • the memory further includes one or more programs, the one or more programs are stored in the memory, and the central processing unit 601 executes the one or more programs to implement the positioning control method shown in FIG. 4, for example.
  • An embodiment of the present application provides a positioning system.
  • the positioning system includes a plurality of positioning beacons and a positioning control device.
  • the positioning control device includes one or more of the positioning control devices provided in the embodiments of the present application. Such as the aforementioned positioning control device 40 and/or the aforementioned positioning control device 50.
  • the apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.
  • a refers to B means that A is the same as B, or A is simply deformed on the basis of B.
  • DRAM dynamic RAM

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Abstract

一种定位控制方法、装置、定位系统及存储介质，定位控制方法包括：确定定位目标的位置（S201）；根据定位目标的位置确定与定位目标之间的距离满足预设条件的目标定位信标（S202）；向目标定位信标发送提示消息（S203），提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，第二频率大于所述第一频率。

Description

定位控制方法、装置、定位系统及存储介质
本公开要求于2019年6月26日提交的申请号为201910561597.X、发明名称为“定位控制方法、装置、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及定位技术领域，特别是指一种定位控制方法、装置、定位系统及存储介质。
背景技术
在定位技术中，例如，在室内定位技术中，定位信标(Beacon)的使用时长对定位系统的硬件更新以及定位精度具有很大的影响，因此降低定位信标的功耗、延长提高定位信标的使用时间对室内定位系统具有较大的意义。目前，可通过对定位信标进行充电来延长定位信标的使用时长。
发明内容
有鉴于此，本申请的目的在于提出一种定位控制方法、装置、定位系统及存储介质。
根据本申请的第一个方面，提供了一种定位控制方法，包括：
确定定位目标的位置；根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标；向所述目标定位信标发送提示消息，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，所述第二频率大于所述第一频率。
可选地，根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标，包括：根据预先获取的所述定位目标的运动轨迹预测与所述定位目标之间的距离满足所述预设条件的所述目标定位信标。
可选地，所述方法还包括：根据在第一预设时间段内获取到的所述定位目标的历史位置生成所述定位目标的运动轨迹。
可选地，根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标，包括：根据所述定位目标的位置确定与所述定位目标 距离最近的定位目标，确定与所述最近的定位目标的距离小于阈值的定位目标为所述目标定位信标。
可选地，向所述目标定位信标发送提示消息，包括：通知所述定位目标向所述目标定位信标发送所述提示消息。
可选地，所述方法还包括：向所述定位目标发送控制消息，所述控制消息用于指示所述定位目标缩短扫描定位信标发出的广播消息的扫描时长。
可选地，所述确定定位目标的位置，包括：基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置。
可选地，所述定位信标的信息包括定位信标的唯一标识码，所述存储器存储有唯一标识码与定位信标的位置坐标的对应关系，基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置，包括：基于所述定位目标检测到的至少三个定位信标的唯一标识码，从所述存储器读取所述至少三个定位信标的位置坐标；基于所述至少三个定位信标的位置坐标，通过三点定位算法确定所述定位目标的位置。
根据本申请的第二个方面，提供一种定位控制方法，包括：以第一频率发送广播消息；获取提示消息，其中，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，所述提示消息是在检测到定位目标后生成的；基于所述提示消息，将广播频率由所述第一频率切换至第二频率；以所述第二频率发送所述广播消息，其中，所述第二频率大于所述第一频率。
可选地，获取提示消息，包括：从所述定位目标获取所述提示消息，或，获得目标定位信标广播的所述提示消息，其中，所述目标定位信标与所述定位目标的距离满足预设条件。
可选地，所述方法还包括：在将广播频率由所述第一频率切换至所述第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由所述第二频率切换至所述第一频率。
根据本申请的第三个方面，提供一种定位控制设备，包括：至少一个模块，该至少一个模块可以用于实现上述第一方面或者第一方面任意一种定位控制方法。
根据本申请的第四个方面，提供一种定位控制设备，包括：至少一个模块，该至少一个模块可以用于实现上述第一方面或者第一方面任意一种定位控制方法。
根据本申请的第五个方面，提供一种定位控制装置，包括存储器、处理器 及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如本申请第一个方面任意一种定位控制方法。
根据本申请的第六个方面，提供了一种定位控制装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如本申请第二个方面任意一种定位控制方法。
根据本申请的第七个方面，提供一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行发明第一个方面以及第二个方面所述的任意一种定位控制方法。
根据本申请的第八个方面，提供一种定位系统，所述定位系统包括：多个定位信标以及定位控制设备，所述定位控制设备和所述定位信标满足以下至少一种条件：所述定位控制设备包括第三个方面任一所述的定位控制装置，以及，所述定位信标包括权利要求第四个方面任一所述的定位控制装置。
根据本申请的第九个方面，提供一种定位系统，所述定位系统包括：多个定位信标以及定位控制设备，所述定位控制设备和所述定位信标满足以下至少一种条件：所述定位控制设备包括第五个方面任一所述的定位控制装置，以及，所述定位信标包括权利要求第六个方面任一所述的定位控制装置。
根据本申请的第十个方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器可以从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述第一个方面任意一种定位控制方法。
根据本申请的第十一个方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机指令，该计算机指令存储在计算机可读存储介质中。计算机设备的处理器可以从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该计算机设备执行上述第二个方面任意一种定位控制方法。
根据本申请的第十二个方面，提供一种芯片，该芯片可以包括可编程逻辑电路和/或程序指令，当该芯片运行时用于实现如第一个方面任意一种定位控制方法。
根据本申请的第十三个方面，提供一种芯片，该芯片可以包括可编程逻辑电路和/或程序指令，当该芯片运行时用于实现如第二个方面任意一种定位控制方法。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施 例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据一示例性实施例示出的本申请实施例提供的定位控制方法所对应的定位系统的应用场景示意图；
图2是根据另一示例性实施例示出的本申请实施例提供的定位控制方法所对应的定位系统的应用场景示意图；
图3是本申请一示意性实施例提供的一种定位控制方法所涉及的定位系统部署在商场中的平面示意图；
图4是根据一示例性实施例示出的定位控制方法的流程图；
图5是根据一示例性实施例示出的确定定位目标的方法的流程图；
图6是根据一示例性实施例示出的定位目标的运动轨迹示意图；
图7是根据一示例性实施例示出的一种定位控制方法的流程图；
图8是根据一示例性实施例示出的定位系统工作示意图；
图9是根据一示例性实施例示出的一种定位控制装置的框图；
图10是根据一示例性实施例示出的一种定位控制装置的框图；
图11是根据一示例性实施例示出的一种定位控制装置的框图；
图12是根据一示例性实施例示出的一种定位控制装置的结构示意图。
具体实施方式
为使本申请的目的、技术方案和原理更加清楚明白，以下结合具体实施例，并参照附图，对本申请进一步详细说明。
需要说明的是，本申请实施例中所有使用“第一”和“第二”的表述均是为了区分两个相同名称非相同的实体或者非相同的参量，可见“第一”“第二”仅为了表述的方便，不应理解为对本申请实施例的限定，后续实施例对此不再一一说明。
图1是根据一示例性实施例示出的本申请实施例提供的定位控制方法所对应的定位系统的应用场景示意图。请参考图1，该应用场景所涉及的定位系统包括多个定位信标(图1中以定位信标101a至101c示意性表示该多个定位信标)、定位控制设备102以及一个或多个移动设备(图1中以移动设备103a和103b示意性表示该一个或多个移动设备)。该应用场景所涉及的定位系统可以部署在商场、超市、办公楼、工厂、储物仓库或停车场等多种区域中。采用该定位系统可以精确定位到定位目标的位置，从而可以基于确定的位置执行所需的动作， 例如向定位目标推送指定信息(如广告)；或者，记录定位目标的移动轨迹，以避免定位目标进入不允许进入的区域；或者，引导工人在工厂巡视产线，避免其偏离预先设定的巡视路径等。
其中，本申请实施例中的定位信标例如可以是一种具有蓝牙功能的Beacon，例如可以是一种低功耗的蓝牙Beacon等。多个定位信标可以部署在所应用的场景中的指定位置，定位信标可以发送广播消息。多个定位信标用于对定位系统中的定位目标进行定位。
移动设备例如可安装有获取定位信标信息的模块。例如安装有能够获取定位信标RSSI(Received Signal Strength Indication，接收的信号强度指示)值的蓝牙芯片或者电子标签等，或者安装有能够获取定位信标的标识的模块，例如可安装有天线，从而可用于接收定位信标发送的广播消息。
可选地，该通信模块还可以向定位信标发送消息(例如后续实施例中的提示消息)。在定位系统中，具有前述通信模块的移动设备即为定位目标。图1以移动设备安有装蓝牙芯片为例进行示意性说明。定位控制设备102可以是一个服务器或者一个服务器集群或者云计算中心。定位控制设备102与安有装蓝牙芯片的移动设备(即定位目标)建立有通信连接，定位控制设备102用于基于定位目标的位置来控制定位信标发送广播消息的广播频率。
本申请实施例中，定位控制设备102与移动设备的通信连接可以有多种建立方式，例如通过无线局域网，如WiFi(Wireless Fidelity，无线保真)或者ZigBee(紫蜂)协议网络建立；或者，通过各代移动通信网络(2G、3G、4G及5G)建立等等。
可选地，如图2所示，假设定位控制设备102与移动设备通过无线局域网建立有通信连接，则该定位系统还可以包括：一个或多个网关(图1中以网关104a至104c示意性表示该一个或多个网关)。该网关可以为路由器等结构。在该定位系统中，定位控制设备102与每个移动设备通过该一个或多个网关中的一个网关建立通信连接。
相关技术中，通常使用全球定位系统(Global Positioning System，GPS)、伽利略定位或北斗定位来提供定位服务。但由于无线电波的穿透性较差，无法穿透建筑物或者建筑外墙等，导致其无法在室内或者受建筑物遮挡的情况下正常使用。另外，长期启用GPS服务的耗电量也较大。而其他基于WIFI或者通用无线分组业务(General packet radio service，GPRS)等蜂窝网络的定位服务的精确度也在室内受到较大的限制。
而本申请实施例采用定位信标来定位室内的定位目标，可以通过室内的多个定位信标发送广播消息，由定位目标将检测到的定位信标的信息，如信号强度信息，发送至定位控制设备102，由定位控制设备102基于接收的信息进行多点定位，从而精确地确定定位目标在室内的位置。该定位方式成本较低。
为了便于读者理解，本申请实施例以定位系统部署在商场为例进行定位原理的说明。图3是本申请一示意性实施例提供的一种定位控制方法所涉及的定位系统部署在商场中的平面示意图。假设该定位系统部署有11个定位信标，分别是定位信标1至定位信标11，定位目标103a在移动过程中依次经过定位信标2、定位信标3和定位信标11，则可以依次检测到定位信标2、定位信标3和定位信标11发送的广播消息以及广播消息的信号强度信息。定位目标103a将检测到的定位信标的信息发送至定位控制设备(图3未绘制)，由定位控制设备通过多点定位的方式确定定位目标的精确位置。可选的，在确定定位目标的精确位置后，定位目标周围的定位信标如定位信标3、4和11，可以向定位目标广播指定信息(如广告)。例如，位于运动服饰区的定位信标3可以向定位目标广播携带有运动服饰广告的广播消息；位于鞋履区的定位信标11可以向定位目标广播携带有鞋履广告的广播消息；位于大厅的定位信标4可以向定位目标广播携带有商场导向图的广播消息等。
图4是根据一示例性实施例示出的定位控制方法的流程图，该方法可由定位控制设备来实现，还可以由定位目标来实现。下述实施例以该方法由定位控制设备实现为例进行说明，定位目标实现该定位控制方法的过程可以参考该定位控制设备的对应过程。如图4所示，该方法包括：
S201：确定定位目标的位置。
在本申请实施例中，定位控制设备可以通过多种方式确定定位目标的位置。在第一种可选方式中，定位目标自身具有定位功能，定位目标确定自身的位置，并将该位置发送至定位控制设备。例如，定位目标可以采用GPS定位、伽利略定位或北斗定位，或者基于WIFI或GPRS等蜂窝网络定位。不过由于在室内这些定位功能的定位精度较低，若采用该可选方式确定定位目标的位置，则可以认为S201是定位目标的粗略定位过程。
在第二种可选方式中，定位控制设备通过定位信标进行定位。由于在室内采用定位信标进行定位的定位精度较高，若采用该可选方式确定定位目标的位置，则可以认为S201是定位目标的精确定位过程。例如，基于定位目标检测到 的定位信标的信息，确定定位目标的位置。如图5所示，该过程包括：
S2011：获取定位目标发送的第一定位信标的信息。
其中，第一定位信标的信息由定位目标基于其扫描得到的第一定位信标的广播消息确定。
例如，当定位目标进入或处于设置有定位信标的区域时，可通过扫描获取该区域内距离定位目标较近(例如处于定位目标扫描范围内)的第一定位信标广播的广播消息，该广播消息中可以至少包括定位信标的唯一标识码。其中，定位信标的唯一标识码可以为该定位信标的MAC(Media Access Control Address，媒体访问控制地址)，或用于标识该定位信标的字符串等。
如前所述，定位目标基于其扫描得到的第一定位信标的广播消息确定该第一定位信标的信息。例如，该第一定位信标的信息包括该第一定位信标的信号强度信息以及该定位信标的唯一标识码中的至少一种信息。例如，信号强度信息包括：RSSI(Received Signal Strength Indication，接收的信号强度指示)。
其中，由于广播消息携带有定位信标的唯一标识码，定位目标可以直接提取该唯一标识码。
定位目标确定第一定位信标的信号强度信息的方式可以有多种，示例的，定位目标可以基于扫描到的广播消息的信号强度，确定第一定位信标的信号强度信息。则该信号强度信息至少包括反映扫描到的广播消息的信号强度的信息，如前述RSSI。
在一个例子中，上述第一定位信标可以为一组定位信标，该组定位信标可至少包括三个定位信标(例如，可基于定位信标的坐标通过三点定位算法来进行定位)。例如，该一组定位信标可包括设置于不同位置的至少三个定位信标。
在一种可选方式中，定位目标可以扫描到多个定位信标，在多个定位信标中筛选得到前述第一定位信标(即一组定位信标)。例如，选择信号强度较强的前n个定位信标作为第一定位信标，n为设定的第一定位信标的个数，例如，n≥3。在另一种可选方式中，定位目标可以扫描到多个定位信标，将该多个定位信标直接作为第一定位信标。
S2012：根据接收到的第一定位信标的信息确定定位目标的位置。
其中，该过程包括：
A1、基于第一定位信标的信息，确定第一定位信标的位置。
示例的，定位控制设备中(例如存储器中)可预先存储有各定位信标的信息与该定位信标的位置的对应关系。例如，定位控制设备中可预先存储有各定 位信标的唯一标识码(例如MAC地址)与该定位信标的位置坐标的对应关系。故，定位控制设备在获取定位信标的唯一标识码后，即可通常查询对应关系获知该定位信标的位置坐标，该定位信标的位置坐标用于指示定位信标的位置。
A2、根据第一定位信标的位置确定定位目标的位置。
可选地，定位控制设备可以基于第一定位信标的位置，通过三点定位算法确定定位目标的位置。
例如，在S2011中获得第一定位信标(例如至少三个定位信标)的信号强度信息(如RSSI值)后，可选择其中三个定位信标，根据该三个定位信标的信号强度信息确定定位目标分别与该三个定位信标之间的距离，再基于定位目标分别与该三个定位信标之间的距离，以及该三个定位信标的位置(例如采用位置坐标表示)，通过三点定位算法确定出定位目标的位置。例如，在三个定位信标所在坐标系(如地球坐标系，或者其他指定坐标系)中，分别将三个定位信标的位置作为点，以每个点(即该点对应的定位信标)与定位目标之间的距离作为半径画圆，得到的3个圆的交点即为定位目标的位置。
又例如，在S2011中获得第一定位信标(例如至少三个定位信标)的信号强度信息后，若获取的定位信标的个数大于3，可根据获取的至少三个定位信标的信号强度信息确定定位目标分别与每个定位信标之间的距离。对于该至少三个定位信标的每三个定位信标，基于定位目标分别与该三个定位信标之间的距离，以及该三个定位信标的位置，通过三点定位算法确定出定位目标的位置。最后，可以将由每三个定位信标分别确定出的定位目标的位置的平均位置作为最终的定位目标的位置。如此可以提高确定的定位目标的位置的精度。
例如，假设获得了定位信标1至4共4个定位信标，则可以基于定位目标分别与定位信标1至3之间的距离，以及定位信标1至3的位置，通过三点定位算法确定出定位目标的位置1；可以基于定位目标分别与定位信标1、2、4之间的距离，以及定位信标1、2、4的位置，通过三点定位算法确定出定位目标的位置2；可以基于定位目标分别与定位信标1、3、4之间的距离，以及定位信标1、3、4的位置，通过三点定位算法确定出定位目标的位置3；可以基于定位目标分别与定位信标2、3、4之间的距离，以及定位信标2、3、4的位置，通过三点定位算法确定出定位目标的位置4。最后，可以将定位目标的位置1至4的平均位置作为最终的定位目标的位置。
可选地，定位控制设备可以基于第一定位信标的位置，采用其他方式确定定位目标的位置。例如，在S2011中获得第一定位信标(例如至少三个定位信 标)的信号强度信息(如RSSI值)后，可以在至少三个定位信标中选择信号强度信息较强的前m个定位信标，m≥3，基于获取的m个定位信标的位置，确定包括该m个定位信标最小外接圆形，将该最小外接圆形的圆心所在位置作为定位目标的位置。
S202：根据定位目标的位置确定与定位目标之间的距离满足预设条件的目标定位信标。
在一个例子中，如图6所示，与定位目标之间的距离满足预设条件的目标定位信标，例如可以是在定位目标当前所在区域，距离定位目标最近的定位信标B1，或者，该目标定位信标还可包括与距离定位目标最近的定位信标之间的距离小于预设距离的定位信标B2～B8。
需要说明的是，在S201中，定位目标可能扫描到多个定位信标，并将该定位信标的信息均发送至定位控制设备。若对该多个定位信标的信息均进行处理，以确定距离满足预设条件的目标定位信标，会造成较大的计算开销，影响运算效率。因此，在S202之前，定位控制设备可以对接收到的多个定位信标的信息进行筛选，以减少确定的距离满足预设条件的目标定位信标的个数。例如，在获取的多个定位信标的信息中选择信号强度较强的前k个定位信标作为备选定位目标，该过程可以称为信标选取过程，k为设定的备选定位目标的个数，例如，k≥3。在S202中确定的目标定位目标属于备选定位目标。
S203：向目标定位信标发送提示消息。
示例的，定位控制设备可以通知定位目标向目标定位信标发送提示消息。提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，第二频率大于第一频率。
其中，第一频率可以是定位信标处于低功耗时定位信标的广播频率，第二频率可以是定位信标用于定位时所需的广播频率。其中，第二频率的取值范围需要根据每次定位响应速度的需求来确定。如一般情况下，广播间隔可以取500ms，对应频率可以为2Hz。第一频率的取值范围可根据系统功耗要求和/或定位目标的移动速度等来确定。要求功耗越低，第一频率的取值可以越小，但为了不影响定位，定位目标移动到下一个定位区域时，需要目标定位信标已经接收到该提示消息，并将广播频率提高到第二频率。
本申请实施例中，向目标定位信标发送提示消息的方式可以有多种。如图6所示，如果上述目标定位信标为B1，则可通知定位目标将提示消息发送给B1，以控制B1广播该提示消息，使得B1周围的定位信标(例如定位信标B2～B8) 可通过扫描的方式获得该提示消息；如果上述目标定位信标包括定位信标B1～B8，则可通知定位目标将提示消息发送给定位信标B1～B8，或者，仍通知定位目标将该提示消息发送给定位信标B1，使得B1广播该提示消息，使得定位信标B2～B8可通过扫描的方式获得该提示消息。在从该提示消息中获知当前已经检测到定位目标后，定位信标B1～B8可将其广播频率由第一频率切换至第二频率。
可选地，该提示消息中可以由定位控制设备生成，其中可以携带需要接收该提示消息的定位信标(即目标定位信标)的唯一标识码。如此，在前述向目标定位信标发送提示消息的过程中，每个接收到该提示消息的定位信标可以确定自身是否为提目标定位信标，若自身为目标定位信标，则将自身的广播频率由第一频率切换至第二频率。
本申请实施例的定位控制方法，在对定位目标进行定位后，向与定位距离满足预设条件的目标定位信标发送提示消息，以使得目标定位信标提高自身的广播频率，而在未监测到定位目标之前(即进行频率切换之前)可使用较低的广播频率，从而可降低定位信标在定位过程中的功耗，延长定位信标的使用时间。除此之外，根据提示消息提高定位信标的广播频率，还可缩短定位响应时间，提高定位响应效率。
可选地，前述S201中，若采用第一种可选方式进行定位目标的定位，则获取的定位目标的位置精确度较低；若采用第二种可选方式进行定位目标的定位，虽然精确度有一定提升，但是由于定位信标的广播频率较低，仍然会影响定位精度。因此，可以在目标定位信标将第一频率切换至第二频率后，再次通过定位信标进行定位，也即是再次执行前述步骤S201的第二种可选方式，以获取更为准确的定位目标的位置。
前述S202可以有多种实现方式，本申请实施例以以下几种可实现方式为例进行说明：
在一种可实现方式中，根据定位目标的位置确定与定位目标之间的距离满足预设条件的目标定位信标的过程，可包括：根据预先获取的定位目标的运动轨迹预测与定位目标之间的距离满足预设条件的目标定位信标。
定位目标在定位系统中移动时，其行进具有一定的轨迹，从而使其在定位信标间移动时，前后的定位信标间具有一定的关联。而定位目标的运动轨迹在一定程度上反映了定位目标在定位系统中移动的规律，以及定位信标间的关联性，采用定位目标的运动轨迹预测目标定位信标，可以提高确定的目标定位信 标的准确性，以及灵活性。
其中，定位目标的运动轨迹的生成过程包括：
根据在第一预设时间段内获取到的定位目标的历史位置生成定位目标的运动轨迹；该运动轨迹可如图6所示，其中，B1至B8为定位目标周围的定位信标，图6中的标号1用于表示定位信标，图6中信标对应的较大的圆点表示定位信标的信号强度较强，信标对应的较小的圆点表示定位信标的信号强度较弱，标号2表示定位目标，标号3指示的是定位目标2的运动轨迹，图6中的星标表示定位目标2当前所处的位置。
示例的，目标定位信标的预测过程包括：根据运动轨迹预测与定位目标之间的距离满足预设条件的目标定位信标。例如，可根据定位目标的运动轨迹确定定位目标的运动趋势，从而根据定位目标的运动趋势确定定位目标的运动方向，再根据定位目标运动的平均速度，确定出定位目标当前所处的位置，根据定位目标当前所处的位置确定与该定位目标之间的距离满足预设条件的目标定位信标。或者，根据定位目标的运动轨迹可推测出定位目标即将经过的定位信标。例如，如图6所示，定位目标2即将经过定位信标B1、B2、B3、B4、B5以及B8，则将推测出的定位目标即将经过的定位信标为目标定位信标。则在图6所示的例子中，B1、B2、B3、B4、B5以及B8为目标定位信标。基于此，可在定位目标到达目标定位信标之前，即控制目标定位信标调整其广播频率，从而可提高定位信标的响应效率。
需要说明的是，前述运动轨迹可以基于人工智能算法确定。前述根据预先获取的定位目标的运动轨迹预测与定位目标之间的距离满足预设条件的目标定位信标也可以基于人工智能算法实现。
在一种可实现方式中，根据定位目标的位置确定与定位目标之间的距离满足预设条件的目标定位信标的过程，可包括：根据定位目标的位置确定与定位目标距离最近的定位目标，假设该定位目标为第三定位目标；确定与第三定位目标的距离小于阈值的定位目标为目标定位信标。例如，定位目标扫描其周围的Beacon的广播消息并将从该广播消息中获取的定位信息上传至定位控制设备，定位控制设备可选取信号强度最强(如RSSI值最大)的三个定位信标，根据公式(1)计算出定位目标和定位信标之间的距离d。
Figure PCTCN2020089870-appb-000001
上述式(1)中，A为发射端(例如定位信标)和接收端(例如定位目标) 相隔1米时的信号强度(单位为dB)，n为环境衰减因子。
根据定位信标的唯一标识码，如MAC地址，从存储器中读取对应定位信标的位置坐标(定位控制设备中可预先存有MAC地址与定位信标的位置坐标的对应关系)，根据三点定位算法计算出定位目标的位置P(x，y)，并将此位置存储到存储器中，还可根据该位置形成定位目标的轨迹。根据定位目标的位置和每个Beacon的坐标Bn(xn,yn)，计算出定位目标与Beacon之间的距离PBn。
Figure PCTCN2020089870-appb-000002
根据公式(2)中计算得到的结果，选取数值最小的作为B1，即距离定位目标最近的Beacon。而确定与定位目标距离满足预设条件的其他定位信标例如，确定与定位信标B1之间的距离小于阈值的Beacon与定位目标之间的距离满足预设条件。
在一种可实现方式中，本申请实施例提供的定位控制方法还可包括：在通知定位目标向目标定位信标发送提示消息之后，向定位目标发送控制消息，该控制消息用于指示定位目标缩短扫描定位信标发出的广播消息的扫描时长。例如，当定位目标在当前定位系统所管理的区域内完成第一次定位后，由于该区域内距离定位目标满足预设条件的定位信标的广播被频率调高，相应的，可以通过适当减少扫描时间来降低定位目标的功耗。因此定位控制设备可向定位目标发送控制消息，以控制定位目标缩短扫描时间，定位目标在接收到该控制消息后，可根据该控制消息缩短其扫描时间。
综上所述，本申请实施例的定位控制方法，在对定位目标进行定位后，向与定位距离满足预设条件的目标定位信标发送提示消息，以使得目标定位信标提高自身的广播频率，从而缩短定位响应时间，提高定位响应效率。而在未监测到定位目标之前(即进行频率切换之前)可使用较低的广播频率，从而可降低定位信标在定位过程中的功耗，延长定位信标的使用时间。如此，可以降低整个定位系统的功耗，以及提高定位系统中定位信标的使用寿命。进一步的，本申请实施例提供的定位控制方法，无需对定位信标增加额外的硬件(如充电设备)即可实现定位信标能耗的节约，从而降低定位信标的制造和使用成本。并且，还可以通过适当减少扫描时间来降低定位目标的功耗。
图7是根据一示例性实施例示出的一种定位控制方法的流程图。该方法例如可由一个定位信标执行，假设该定位信标为第二定位信标，该第二定位信标 可以为前述实施例中的一个目标定位信标。如图7所示，该方法包括：
S301：以第一频率发送广播消息。
广播消息中包括定位信标的信息；其中，定位信标的信息例如可包括该定位信标的唯一标识码，该唯一标识码例如可以是定位信标的MAC地址。
S302：获取提示消息。
其中，该提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，该提示消息是在检测到定位目标后生成的，例如其可以为定位控制设备生成，也可以为定位目标生成。可选地，该提示消息还提示检测到定位目标。
获取提示消息的方式可以有多种。例如，可从定位目标获取提示消息，在该种情况下，可认为第二定位信标为定位目标所处的区域中距离定位目标最近的定位信标。该第二定位信标在接收到提示消息后，可广播该提示消息。例如，可以以第一频率广播该提示消息，或者，将自身的广播频率切换至第二频率后，以第二频率广播该提示消息。
例如，还可从其他目标定位信标获取提示消息，该其他目标定位信标为与定位目标之间的距离满足预设条件的定位信标中的任意一个。可选地，该其他目标定位信标与第二定位信标不同。示例的，可以从第三定位信标获取提示消息，第三定位信标为定位目标所处的区域中距离定位目标最近的定位信标。而在该种情况下，第二定位信标可被认为是与定位目标之间的距离满足预设条件的定位信标中的任意一个。
S303：基于提示消息，将广播频率由第一频率切换至第二频率。
S304：以第二频率发送广播消息，其中，第二频率大于第一频率。
例如，在第二定位信标为距离定位目标最近的定位信标的情况下，在S304中，还可同时以第二频率发送提示消息，以使得定位目标所在区域内的其他定位信标(例如与定位目标之间的距离满足预设条件的目标定位信标)可获得该提示消息，从而根据该提示消息将自身的广播频率由第一频率切换至第二频率。
本申请实施例的定位控制方法，在获得检测到定位目标的提示消息之前，以一定频率发送广播消息，而在获得提示消息后，增大广播频率，可实现在未检测到定位目标之前，以一个较低的频率发送广播消息，在检测到定位目标后，以一个较高的频率发送广播消息。使得在未监测到定位目标之前，在定位过程中可降低定位信标的功耗，延长了定位信标的使用寿命。除此之外，在根据提示消息提高定位信标的广播频率，还可缩短定位响应时间，提高定位响应效率。
在一种可实现方式中，获取提示消息的过程可包括：从定位目标获取提示 消息，或，获得目标定位信标广播的提示消息，其中，目标定位信标为在定位目标所在的区域内与定位目标的距离满足预设条件的定位信标。例如，获得第三定位信标广播的提示消息，其中，第三定位信标为在定位目标所在的区域内与定位目标的距离最近的定位信标。例如，当第二定位信标为在定位目标所在区域内距离定位目标最近的定位信标时，可从定位目标获取提示消息。而在第二定位信标并非在定位目标所在区域内距离定位目标最近的定位信标时，可获取第三定位信标广播的提示消息，在该种情况下，第三定位信标可以是在定位目标所在区域内距离定位目标最近的定位信标。
在一种可实现方式中，该定位控制方法还可包括：在将广播频率由第一频率切换至第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由第二频率切换至第一频率，这样可保持定位信标处于低功耗状态。例如，可设置Beacon在时间T内未接收到广播频率的控制信息时，自动将高频率广播降低为低频率广播。
在一种可实现方式中，处于同一区域内的多个定位信标的广播频率可以不同。例如，某一定位系统所在的一个区域内，可以设置该区域边缘处的定位信标的广播频率为第三频率，而其他位置的定位信标的广播频率为第四频率。其中，第三频率大于第四频率(该第四频率例如可以与上述第一频率相同)。例如，设置该区域入口处的定位信标的广播频率为第三频率，而设置该区域其他位置的定位信标的广播频率为第四频率，这样可以提高定位系统的响应效率。第三频率由进入定位系统的响应速度需求来确定，第三频率越高，扫描的时间越短，定位系统的响应时间越快。
以上分别从定位控制设备端以及定位信标端对本申请实施例的定位控制方法进行说明，以下以一个例子通过在定位控制方法中各端设备之间的信息交互的角度来对本申请实施例的定位控制方法进行说明。在该例子中，定位控制方法可涉及定位信标、目标定位物品(为上述定位目标的一个示例)、网关以及定位控制设备等。
首先，结合图8对该例子中涉及到的各设备在定位控制方法中所需执行的操作进行简要说明，其中，定位信标可用于发射广播消息(该广播消息中例如可包括定位信标的唯一标识)以及用于指示检测到定位目标的提示消息，该定位信标例可以是低功耗的蓝牙Beacon；定位目标上例如可安装有用于获取定位信标信号强度的模块，该模块例如能够获取Beacon RSSI值的蓝牙芯片等；网关(图8未示出)可用于接收定位目标上传的定位信息，如前述实施例中的定位 信标的信息，该定位信息包括：信号强度信息(如定位信标的RSSI值)和对应的定位信标的唯一标识码(如定位信标的MAC地址)，同时传达定位控制设备下发的控制信息，如前述实施例所述的提示消息；定位控制设备可用于根据定位目标上传的定位信标的信息计算出定位目标所在的位置。例如，基于获取的定位信标的唯一标识码确定定位信标的位置；执行前述实施例的信标选取过程，并计算选取的定位信标(即前述备选定位信息)与定位目标的距离d；基于确定的定位信标的位置，以及选取的定位信标的与定位目标的距离d确定定位目标的位置。
定位控制设备还可以控制距离定位目标最近的定位信标向周围发送提示消息(该提示消息可以指示检测到定位目标)，以使周围其他的定位信标根据接收到的提示消息调整广播频率。该距离定位目标最近的定位信标以及周围其他的定位信标均属于图8中所示的附近定位信标。图8中的定位控制设备可以位于后台服务端，如为服务器，还可以位于定位目标上。
在该例子中，定位控制方法可包括：当定位系统中未检测到定位目标时，定位信标以低频率F1发送广播消息，该广播消息中可包含定位信标的唯一识别码，如MAC地址等；当有定位目标进入或处于定位系统中需要定位时，定位目标扫描其周围的定位信标的广播消息，获取定位信标的信号强度信息，如RSSI和定位信标的MAC地址，并将获取的定位信标的信息通过网关上传或直接传给定位控制设备，上传的信息可以存储在定位控制设备的存储器中；定位控制设备根据接收到的定位目标上传的信息执行三点定位算法，获取定位目标的位置；定位控制设备根据定位目标的位置确定距离定位目标最近的B1，以及B1周边的其他Beacon，或者定位控制设备根据定位目标的运动轨迹预测的其他Beacon(B2～B8)，并通过定位目标将检测到定位目标的提示消息传递给B1，再由B1广播给其附近的其他Beacon(B2～B8)，收到提示消息的Beacon(B1～B8)将其广播频率由F1切换至F2(F2>F1)。
综上所述，本申请实施例的定位控制方法，在对定位目标进行定位后，向与定位距离满足预设条件的目标定位信标发送提示消息，以使得目标定位信标提高自身的广播频率，从而缩短定位响应时间，提高定位响应效率。而在未监测到定位目标之前(即进行频率切换之前)可使用较低的广播频率，从而可降低定位信标在定位过程中的功耗，延长定位信标的使用时间。如此，可以降低整个定位系统的功耗，以及提高定位系统中定位信标的使用寿命。进一步的，本申请实施例提供的定位控制方法，无需对定位信标增加额外的硬件(如充电 设备)即可实现定位信标能耗的节约，从而降低定位信标的制造和使用成本。
本申请实施例提供一种定位控制装置，包括：存储器、处理器及存储在存储器中并可在处理器上运行的计算机程序，其中，所述处理器执行所述计算机程序时实现以下步骤：
确定定位目标的位置；根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标；向所述目标定位信标发送提示消息，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，所述第二频率大于所述第一频率。
可选地，根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标，包括：根据预先获取的所述定位目标的运动轨迹预测与所述定位目标之间的距离满足所述预设条件的所述目标定位信标；或者，根据所述定位目标的位置确定与所述定位目标距离最近的定位目标，确定与所述最近的定位目标的距离小于阈值的定位目标为所述目标定位信标。
可选地，所述步骤还包括：根据在第一预设时间段内获取到的所述定位目标的历史位置生成所述定位目标的运动轨迹。
可选地，向所述目标定位信标发送提示消息，包括：通知所述定位目标向所述目标定位信标发送所述提示消息。
可选地，所述步骤还包括：向所述定位目标发送控制消息，所述控制消息用于指示所述定位目标缩短扫描定位信标发出的广播消息的扫描时长。
可选地，所述确定定位目标的位置，包括：基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置。
可选地，所述定位信标的信息包括定位信标的唯一标识码，所述存储器存储有唯一标识码与定位信标的位置坐标的对应关系，基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置，包括：基于所述定位目标检测到的至少三个定位信标的唯一标识码，从所述存储器读取所述至少三个定位信标的位置坐标；基于所述至少三个定位信标的位置坐标，通过三点定位算法确定所述定位目标的位置。
本申请实施例提供一种定位控制装置，包括：存储器、处理器及存储在存储器中并可在处理器上运行的计算机程序，其中，所述处理器执行所述计算机程序时实现以下步骤：以第一频率发送广播消息；获取提示消息，其中，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，所述提示消息是在检测到定位目标后生成的；基于所述提示消息，将广播频率由所述第 一频率切换至第二频率；以所述第二频率发送所述广播消息，其中，所述第二频率大于所述第一频率。
可选地，获取提示消息，包括：从所述定位目标获取所述提示消息，或，获得目标定位信标广播的所述提示消息，其中，所述目标定位信标与所述定位目标的距离满足预设条件。
可选地，所述步骤还包括：在将广播频率由所述第一频率切换至所述第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由所述第二频率切换至所述第一频率。
图9是根据一示例性实施例示出的一种定位控制装置的框图，如图9所示，该装置40包括：第一确定模块41，用于确定定位目标的位置；第二确定模块42，用于根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标；第一发送模块43，用于向所述目标定位信标发送提示消息，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，所述第二频率大于所述第一频率。
在一种可实现方式中，所述第二确定模块42，用于：根据预先获取的所述定位目标的运动轨迹预测与所述定位目标之间的距离满足所述预设条件的所述目标定位信标。
在一种可实现方式中，所述第二确定模块42，用于：根据所述定位目标的位置确定与所述定位目标距离最近的定位目标，确定与所述最近的定位目标的距离小于阈值的定位目标为所述目标定位信标。
在一种可实现方式中，如图10所示，所述装置40还包括：第二发送模块44，用于向所述定位目标发送控制消息，所述控制消息用于指示所述定位目标缩短扫描定位信标发出的广播消息的扫描时长。
在一种可实现方式中，所述装置还包括：轨迹生成模块，用于根据在第一预设时间段内获取到的所述定位目标的历史位置生成所述定位目标的运动轨迹。
在一种可实现方式中，第一发送模块43，用于：通知所述定位目标向所述目标定位信标发送所述提示消息。
在一种可实现方式中，第一确定模块41，用于：基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置。
在一种可实现方式中，第一确定模块41，用于：基于所述定位目标检测到 的至少三个定位信标的信息，通过三点定位算法确定所述定位目标的位置。
可选地，所述定位信标的信息包括定位信标的唯一标识码，第一确定模块41，用于：基于所述定位目标检测到的至少三个定位信标的唯一标识码，从唯一标识码与定位信标的位置坐标的对应关系查询得到所述至少三个定位信标的位置坐标；基于所述至少三个定位信标的位置坐标，通过三点定位算法确定所述定位目标的位置。
图11是根据一示例性实施例示出的一种定位控制装置的框图，如图11所示，该装置50包括：
广播模块51，用于以第一频率发送广播消息；获取模块52，用于获取提示消息，其中，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，所述提示消息是在检测到定位目标后生成的；切换模块53，用于基于所述提示消息，将广播频率由所述第一频率切换至第二频率；所述广播模块51，用于以所述第二频率发送所述广播消息，其中，所述第二频率大于所述第一频率。
在一种可实现方式中，所述获取模块52，用于：从所述定位目标获取所述提示消息，或，获得目标定位信标广播的所述提示消息，其中，所述目标定位信标与所述定位目标的距离满足预设条件。
在一种可实现方式中，所述切换模块53，还用于：在将广播频率由所述第一频率切换至所述第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由所述第二频率切换至所述第一频率。
本申请的实施例还提供了一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述任意一种定位控制方法。
本申请的实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行上述任意一种定位控制方法。
图12是根据一示例性实施例示出的一种定位控制设备的结构示意图。示例的，该定位控制设备为前述定位控制设备，例如其为一个或多个服务器。所述定位控制设备600包括中央处理单元(CPU)601、包括随机存取存储器(RAM)602和只读存储器(ROM)603的系统存储器604，以及连接系统存储器604和中央处理单元601的系统总线605。所述定位控制设备600还包括帮助计算机内 的各个器件之间传输信息的基本输入/输出系统(I/O系统)606，和用于存储操作系统613、应用程序614和其他程序模块615的大容量存储设备607。
所述基本输入/输出系统606包括有用于显示信息的显示器608和用于用户输入信息的诸如鼠标、键盘之类的输入设备609。其中所述显示器608和输入设备609都通过连接到系统总线605的输入输出控制器610连接到中央处理单元601。所述基本输入/输出系统606还可以包括输入输出控制器610以用于接收和处理来自键盘、鼠标、或电子触控笔等多个其他设备的输入。类似地，输入输出控制器610还提供输出到显示屏、打印机或其他类型的输出设备。
所述大容量存储设备607通过连接到系统总线605的大容量存储控制器(未示出)连接到中央处理单元601。所述大容量存储设备607及其相关联的计算机可读介质为定位控制设备600提供非易失性存储。也就是说，所述大容量存储设备607可以包括诸如硬盘或者CD-ROM驱动器之类的计算机可读介质(未示出)。
不失一般性，所述计算机可读介质可以包括计算机存储介质和通信介质。计算机存储介质包括以用于存储诸如计算机可读指令、数据结构、程序模块或其他数据等信息的任何方法或技术实现的易失性和非易失性、可移动和不可移动介质。计算机存储介质包括RAM、ROM、EPROM、EEPROM、闪存或其他固态存储其技术，CD-ROM、DVD或其他光学存储、磁带盒、磁带、磁盘存储或其他磁性存储设备。当然，本领域技术人员可知所述计算机存储介质不局限于上述几种。上述的系统存储器604和大容量存储设备607可以统称为存储器。
根据本申请的各种实施例，所述定位控制设备600还可以通过诸如因特网等网络连接到网络上的远程计算机运行。也即定位控制设备600可以通过连接在所述系统总线605上的网络接口单元611连接到网络612，或者说，也可以使用网络接口单元611来连接到其他类型的网络或远程计算机系统(未示出)。
所述存储器还包括一个或者一个以上的程序，所述一个或者一个以上程序存储于存储器中，中央处理器601通过执行该一个或一个以上程序来实现例如图4所示的定位控制方法。
本申请实施例提供一种定位系统，所述定位系统包括：多个定位信标以及定位控制设备，所述定位控制设备包括本申请实施例提供的一种或多种所述的定位控制装置。如前述定位控制装置40和/或前述定位控制装置50。
上述实施例的装置用于实现前述实施例中相应的方法，并且具有相应的方法实施例的有益效果，在此不再赘述。
所属领域的普通技术人员应当理解：以上任何实施例的讨论仅为示例性的，并非旨在暗示本公开的范围(包括权利要求)被限于这些例子；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明它们没有在细节中提供。
术语“至少一个”指一个或多个，指术语“多个”指两个或两个以上，除非另有明确的限定。“A参考B”，指的是A与B相同，或者A在B的基础上进行简单变形。
另外，为简化说明和讨论，并且为了不会使本申请难以理解，在所提供的附图中可以示出或可以不示出与集成电路(IC)芯片和其它部件的公知的电源/接地连接。此外，可以以框图的形式示出装置，以便避免使本申请难以理解，并且这也考虑了以下事实，即关于这些框图装置的实施方式的细节是高度取决于将要实施本申请的平台的(即，这些细节应当完全处于本领域技术人员的理解范围内)。在阐述了具体细节(例如，电路)以描述本申请的示例性实施例的情况下，对本领域技术人员来说显而易见的是，可以在没有这些具体细节的情况下或者这些具体细节有变化的情况下实施本申请。因此，这些描述应被认为是说明性的而不是限制性的。
尽管已经结合了本申请的具体实施例对本申请进行了描述，但是根据前面的描述，这些实施例的很多替换、修改和变型对本领域普通技术人员来说将是显而易见的。例如，其它存储器架构(例如，动态RAM(DRAM))可以使用所讨论的实施例。
本申请的实施例旨在涵盖落入所附权利要求的宽泛范围之内的所有这样的替换、修改和变型。因此，凡在本申请的精神和原则之内，所做的任何省略、修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种定位控制装置，包括：存储器、处理器及存储在存储器中并可在处理器上运行的计算机程序，其中，所述处理器执行所述计算机程序时实现以下步骤：
    确定定位目标的位置；
    根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标；
    向所述目标定位信标发送提示消息，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，所述第二频率大于所述第一频率。
  2. 根据权利要求1所述的装置，其中，根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标，包括：根据预先获取的所述定位目标的运动轨迹预测与所述定位目标之间的距离满足所述预设条件的所述目标定位信标；
    或者，根据所述定位目标的位置确定与所述定位目标距离最近的定位目标，确定与所述最近的定位目标的距离小于阈值的定位目标为所述目标定位信标。
  3. 根据权利要求2所述的装置，其中，所述步骤还包括：根据在第一预设时间段内获取到的所述定位目标的历史位置生成所述定位目标的运动轨迹。
  4. 根据权利要求1至3任一所述的装置，其中，向所述目标定位信标发送提示消息，包括：通知所述定位目标向所述目标定位信标发送所述提示消息。
  5. 根据权利要求1至4任一所述的装置，其中，所述步骤还包括：
    向所述定位目标发送控制消息，所述控制消息用于指示所述定位目标缩短扫描定位信标发出的广播消息的扫描时长。
  6. 根据权利要求1至5任一所述的装置，其中，所述确定定位目标的位置，包括：基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置。
  7. 根据权利要求6所述的装置，其中，所述定位信标的信息包括定位信标的唯一标识码，所述存储器存储有唯一标识码与定位信标的位置坐标的对应关系，基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置，包括：
    基于所述定位目标检测到的至少三个定位信标的唯一标识码，从所述存储器读取所述至少三个定位信标的位置坐标；
    基于所述至少三个定位信标的位置坐标，通过三点定位算法确定所述定位目标的位置。
  8. 一种定位控制装置，包括：存储器、处理器及存储在存储器中并可在处理器上运行的计算机程序，其中，所述处理器执行所述计算机程序时实现以下步骤：
    以第一频率发送广播消息；
    获取提示消息，其中，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，所述提示消息是在检测到定位目标后生成的；
    基于所述提示消息，将广播频率由所述第一频率切换至第二频率；
    以所述第二频率发送所述广播消息，其中，所述第二频率大于所述第一频率。
  9. 根据权利要求8所述的装置，其中，获取提示消息，包括：从所述定位目标获取所述提示消息，或，获得目标定位信标广播的所述提示消息，其中，所述目标定位信标与所述定位目标的距离满足预设条件。
  10. 根据权利要求8或9所述的装置，其中，所述步骤还包括：在将广播频率由所述第一频率切换至所述第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由所述第二频率切换至所述第一频率。
  11. 一种定位控制方法，所述方法由权利要求1至7任一所述的定位控制装置执行，所述方法包括：
    确定定位目标的位置；
    根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标；
    向所述目标定位信标发送提示消息，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，其中，所述第二频率大于所述第一频率。
  12. 根据权利要求11所述的方法，其中，根据所述定位目标的位置确定与所述定位目标之间的距离满足预设条件的目标定位信标，包括：
    根据预先获取的所述定位目标的运动轨迹预测与所述定位目标之间的距离满足所述预设条件的所述目标定位信标；
    或者，根据所述定位目标的位置确定与所述定位目标距离最近的定位目标，确定与所述最近的定位目标的距离小于阈值的定位目标为所述目标定位信标。
  13. 根据权利要求11或12所述的方法，其中，向所述目标定位信标发送 提示消息，包括：通知所述定位目标向所述目标定位信标发送所述提示消息。
  14. 根据权利要求11或12所述的方法，其中，所述方法还包括：向所述定位目标发送控制消息，所述控制消息用于指示所述定位目标缩短扫描定位信标发出的广播消息的扫描时长。
  15. 根据权利要求11至14任一所述的方法，其中，所述确定定位目标的位置，包括：基于所述定位目标检测到的定位信标的信息，确定所述定位目标的位置。
  16. 一种定位控制方法，所述方法由权利要求8至10任一所述的定位控制装置执行，所述方法包括：
    以第一频率发送广播消息；
    获取提示消息，其中，所述提示消息用于指示定位信标将广播频率由第一频率切换为第二频率，所述提示消息是在检测到定位目标后生成的；
    基于所述提示消息，将广播频率由所述第一频率切换至第二频率；
    以所述第二频率发送所述广播消息，其中，所述第二频率大于所述第一频率。
  17. 根据权利要求16所述的方法，其中，获取提示消息，包括：从所述定位目标获取所述提示消息，或，获得目标定位信标广播的所述提示消息，其中，所述目标定位信标与所述定位目标的距离满足预设条件。
  18. 根据权利要求16或17所述的方法，其中，所述方法还包括：在将广播频率由所述第一频率切换至所述第二频率之后，在第二预设时间段内未收到改变广播频率的指示消息时，将广播频率由所述第二频率切换至所述第一频率。
  19. 一种非暂态计算机可读存储介质，其中，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行如权利要求11至18任一项所述的定位控制方法。
  20. 一种定位系统，所述定位系统包括：多个定位信标以及定位控制设备，所述定位控制设备和所述定位信标满足以下至少一种条件：
    所述定位控制设备包括权利要求1至7任一所述的定位控制装置；
    以及，所述定位信标包括权利要求8至10任一所述的定位控制装置。
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