WO2021120110A1 - 定位的方法、装置和定位系统 - Google Patents

定位的方法、装置和定位系统 Download PDF

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Publication number
WO2021120110A1
WO2021120110A1 PCT/CN2019/126645 CN2019126645W WO2021120110A1 WO 2021120110 A1 WO2021120110 A1 WO 2021120110A1 CN 2019126645 W CN2019126645 W CN 2019126645W WO 2021120110 A1 WO2021120110 A1 WO 2021120110A1
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WIPO (PCT)
Prior art keywords
positioning
bluetooth
base station
data
positioning base
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PCT/CN2019/126645
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English (en)
French (fr)
Inventor
龚文杰
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深圳市汇顶科技股份有限公司
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 深圳市汇顶科技股份有限公司 filed Critical 深圳市汇顶科技股份有限公司
Priority to CN201980013251.4A priority Critical patent/CN111819869B/zh
Priority to PCT/CN2019/126645 priority patent/WO2021120110A1/zh
Publication of WO2021120110A1 publication Critical patent/WO2021120110A1/zh

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    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • 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

  • the embodiments of the present application relate to the field of positioning technology, and more specifically, to a positioning method, device, and positioning system.
  • Animals are an indispensable part of the natural ecosystem. In order to better manage and monitor animals, some farms, wildlife parks, or animal research institutions need to locate animals in a certain area outdoors to track animal activities.
  • the embodiments of the present application provide a positioning method, device, and positioning system, which can achieve the purpose of positioning an object in a certain area with low cost, high accuracy, and long time.
  • a positioning method is provided, which is applied to a hybrid wireless system of a low energy Bluetooth BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations and MESH gateways.
  • a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network
  • the MESH gateway communicates with the positioning server through the cellular mobile communication network
  • the method includes: the MESH The gateway receives positioning data sent by at least one Bluetooth positioning base station, where the positioning data is positioning data of a target object within the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station, and the multiple Bluetooth positioning base stations include The at least one Bluetooth positioning base station;
  • the MESH gateway sends the positioning data to the positioning server through the cellular mobile communication network, and the positioning data is used by the positioning server to determine the location information of the target object.
  • a Bluetooth locator is provided on the target object, and the positioning data includes positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal sent by the Bluetooth locator.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station; wherein the positioning server stores the object identification and the correspondence between the object The relationship, and/or the corresponding relationship between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station is stored in the positioning server.
  • the positioning data further includes a timestamp at which the at least one Bluetooth positioning base station sends the positioning data.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the positioning data sent by the MESH gateway to the positioning server further includes the universal standard time corresponding to the start time of the local time.
  • the method further includes: the MESH gateway determining the local time.
  • the method further includes: if the MESH gateway fails to send the positioning data to the positioning server through the cellular mobile communication network, the MESH gateway saves the positioning data; The MESH gateway resends the positioning data to the positioning server within the first time.
  • a positioning method is provided, which is applied to a hybrid wireless system of a low-power Bluetooth BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations and MESH gateways.
  • a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network
  • the MESH gateway communicates with the positioning server through the cellular mobile communication network
  • the method includes: at least one Bluetooth The positioning base station obtains a positioning instruction, and the multiple Bluetooth positioning base stations include the at least one Bluetooth positioning base station; the at least one Bluetooth positioning base station obtains the relative position of the target object within the range of the at least one Bluetooth positioning base station based on the positioning instruction
  • the positioning data of the at least one Bluetooth positioning base station; the at least one Bluetooth positioning base station sends the positioning data to the MESH gateway, and the positioning data is used by the positioning server to determine the position information of the target object.
  • a Bluetooth locator is provided on the target object, and the method further includes:
  • the at least one Bluetooth positioning base station receives a positioning signal sent by the Bluetooth locator, and the positioning data includes positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station; wherein the positioning server stores the object identification and the correspondence between the object The relationship, and/or the corresponding relationship between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station is stored in the positioning server.
  • the positioning data further includes a timestamp at which the at least one Bluetooth positioning base station sends the positioning data.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the method further includes: performing local time synchronization between the at least one Bluetooth positioning base station and the MESH gateway.
  • a positioning method is provided, which is applied to a hybrid wireless system of a low energy Bluetooth BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations and MESH gateways.
  • a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network
  • the MESH gateway communicates with the positioning server through the cellular mobile communication network
  • the method includes: the positioning The server receives the positioning data sent by the MESH gateway through the cellular mobile communication network.
  • the positioning data is the positioning data of a target object within the range of at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station.
  • the Bluetooth positioning base station includes the at least one Bluetooth positioning base station; the positioning server determines the position information of the target object according to the positioning data.
  • a Bluetooth locator is provided on the target object, and the positioning data includes positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal sent by the Bluetooth locator.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the positioning server determining the location information of the target object according to the positioning data includes: the positioning server determining the target object and the at least one object according to the positioning signal data The relative position between the Bluetooth positioning base stations; the positioning server determines the position information of the target object according to the relative position and the position information of the at least one Bluetooth positioning base station.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station;
  • the method further includes: the positioning server storing the object identifier and the corresponding relationship between the object, and/or the positioning server storing the corresponding relationship between the identifier of the Bluetooth positioning base station and the Bluetooth positioning base station.
  • the method further includes: the positioning server determines the target object according to the identifier of the target object and according to the correspondence between the object identifier and the object; and/or the positioning The server determines the at least one Bluetooth positioning base station according to the identification of the at least one Bluetooth positioning base station and according to the correspondence between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.
  • the positioning data further includes a timestamp at which the at least one Bluetooth positioning base station sends the positioning data.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the positioning data further includes the universal standard time corresponding to the start time of the local time; the method further includes: the positioning server according to the time stamp and the local time The start time of is corresponding to the universal standard time, and the universal standard time stamp corresponding to the position information of the target object is determined.
  • the method further includes: the positioning server sends the location information of the target object to the electronic device.
  • a MESH gateway is provided.
  • the MESH gateway is located in a hybrid wireless system of a Bluetooth low energy BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes a plurality of Bluetooth positioning base stations, the MESH A gateway and a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the MESH gateway includes A functional module that executes the first aspect or the method in any possible implementation of the first aspect.
  • a Bluetooth positioning base station is provided.
  • the Bluetooth positioning base station is located in a hybrid wireless system of a Bluetooth low energy BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations, MESH A gateway and a positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network, the MESH gateway communicates with the positioning server through the cellular mobile communication network, and the Bluetooth positioning base station is At least one Bluetooth positioning base station of the plurality of Bluetooth positioning base stations, the Bluetooth positioning base station includes a functional module for executing the second aspect or the method in any possible implementation of the second aspect.
  • a positioning server is provided.
  • the positioning server is located in a hybrid wireless system of a Bluetooth low energy BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations, MESH gateways,
  • the positioning server, the plurality of Bluetooth positioning base stations communicate with the MESH gateway through the MESH network
  • the MESH gateway communicates with the positioning server through the cellular mobile communication network
  • the positioning server includes A functional module that executes the third aspect or the method in any possible implementation manner of the third aspect.
  • a chip in a seventh aspect, includes a processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the first aspect Or a method in any possible implementation of the first aspect.
  • a chip in an eighth aspect, includes a processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the second aspect Or a method in any possible implementation of the second aspect.
  • a chip in a ninth aspect, includes a processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the third aspect Or a method in any possible implementation of the third aspect.
  • a computer-readable storage medium is provided, and the computer-readable storage medium is used to store a computer program.
  • the processor when the computer program is executed by the processor, the processor is caused to execute the method in the first aspect or any possible implementation manner of the first aspect.
  • a computer-readable storage medium is provided, and the computer-readable storage medium is used to store a computer program.
  • the processor when the computer program is executed by the processor, the processor is caused to execute the second aspect or the method in any possible implementation manner of the second aspect.
  • a computer-readable storage medium is provided, and the computer-readable storage medium is used to store a computer program.
  • the processor when the computer program is executed by the processor, the processor is caused to execute the third aspect or the method in any possible implementation manner of the third aspect.
  • a computer program product including computer program instructions that cause a computer to execute the above-mentioned first aspect or the method in any possible implementation of the first aspect.
  • a computer program product including computer program instructions that cause a computer to execute the foregoing second aspect or any possible implementation of the second aspect.
  • a computer program product including computer program instructions that cause a computer to execute the foregoing third aspect or the method in any possible implementation manner of the third aspect.
  • a positioning system is provided.
  • the positioning system is a hybrid wireless system of a low-power Bluetooth BLE MESH network and a cellular mobile communication network.
  • the positioning system includes: the MESH gateway of the above-mentioned fourth aspect.
  • the multiple Bluetooth positioning base stations communicate with the MESH gateway through the MESH network
  • the MESH gateway communicates with the positioning server through the cellular mobile communication network.
  • the above technical solution uses the combination of BLE’s MESH network and cellular mobile communication network to locate the target object.
  • the Bluetooth positioning base station sends the positioning data to the MESH gateway through the MESH network, and then the MESH gateway sends the positioning data to the MESH gateway through the cellular mobile communication network. Locate the server. Since a positioning system can be configured with at least one MESH gateway, a BLE module can be combined with a cellular mobile communication module to form a MESH gateway, which eliminates the need to install a cellular mobile communication module for each target object, which can effectively reduce costs and is suitable for large Scale deployment.
  • each Bluetooth positioning base station can cover a radius of hundreds of meters to 2 kilometers. Therefore, a small number of Bluetooth positioning base stations can cover a range of several square kilometers, which is beneficial to reduce construction and maintenance costs.
  • the Bluetooth positioning base station can rely on battery, solar and wind power supply, which can continue to work for several years.
  • the positioning accuracy of the MESH network can reach up to centimeter level, which can achieve high-precision positioning.
  • Fig. 1 is a schematic diagram of a MESH network to which an embodiment of the present application is applied.
  • Fig. 2 is an interactive flowchart of a positioning method according to an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a positioning system according to an embodiment of the present application.
  • Fig. 4 is a schematic block diagram of a MESH gateway according to an embodiment of the present application.
  • Fig. 5 is a schematic block diagram of a Bluetooth positioning base station according to an embodiment of the present application.
  • Fig. 6 is a schematic block diagram of a positioning server according to an embodiment of the present application.
  • Fig. 7 is a schematic block diagram of a chip of an embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a positioning system according to an embodiment of the present application.
  • the current positioning methods are mainly as follows:
  • GPS receivers consume a lot of power. If you need to track an animal for a long time, you need to configure a larger battery for the animal. Therefore, GPS positioning is not suitable for small animals. Further, if the positioning device needs to automatically send animal movement track data, it is also necessary to add a cellular mobile communication module to the positioning device, which will further increase the power consumption and volume of the positioning device, and the cost is high, which is not suitable for large-scale deploy.
  • This positioning method is the most traditional positioning method with simple structure, high reliability, and cheap positioning equipment, but it requires manual radio triangulation.
  • This positioning method requires a lot of manpower, and the work intensity is very high, resulting in a higher overall cost, and it is impossible to track more animals.
  • the starlight locator is small in size and light in weight, it has low positioning accuracy. Therefore, it is generally suitable for tracking moving distances of thousands to tens of thousands of kilometers, and is not suitable for relatively small scale ranges such as farms, wild zoos, and animal wild bases.
  • the positioning accuracy of this positioning method is low, especially in field areas with complex terrain and low base station density.
  • the positioning device of this positioning method includes a cellular mobile communication module, which has high power consumption and high cost, and is not suitable for large-scale deployment.
  • the embodiment of the application proposes a positioning method.
  • the positioning method of the embodiment of the application adopts the joint networking of the Bluetooth Low Energy (BLE) MESH network and the cellular mobile communication network, which can achieve low energy consumption.
  • BLE Bluetooth Low Energy
  • FIG 1 is a schematic diagram of a possible MESH network.
  • the MESH network includes multiple devices, and each device may be called a node.
  • Each node can carry out data transmission. Data packets can be relayed between various nodes, so that the data packet can be transmitted to a greater distance. In practical applications, these nodes can be distributed in manufacturing plants, office buildings, shopping centers, business parks, homes, and other environments.
  • the MESH network can include any number of nodes. In Figure 1, only nodes A to G are taken as an example.
  • data packets are transmitted based on advertising. After each node receives a data packet sent by another node, it unconditionally forwards the data packet, thereby forwarding the data packet to other nearby nodes.
  • a data packet from node A to node B can be relayed at least once.
  • node C receives the data packet sent by node A, it can forward the data packet to node D and node G; after node D receives the data packet, it can forward the data packet to node G and node B respectively; After node G receives the data packet, it can forward the data packet to node B, node E, and node F. Since the data packet transmission is based on advertising, the data transmission is unreliable. Therefore, when the node A sends the data packet to the node B, the data packet can be repeatedly sent to ensure that the data packet is successfully received.
  • Fig. 2 is an interactive flowchart of a positioning method according to an embodiment of the present application.
  • the method 200 shown in FIG. 2 can be applied to a hybrid wireless system of a BLE MESH network and a cellular mobile communication network.
  • the hybrid wireless system may include multiple Bluetooth positioning base stations, MESH gateways, and positioning servers, where multiple Bluetooth positioning base stations can communicate with the MESH gateway through the MESH network, and the MESH gateway can communicate with the positioning server through the cellular mobile communication network.
  • FIG 3 is a schematic diagram of a possible hybrid wireless system. It should be understood that, in the embodiments of the present application, the hybrid wireless system may also be referred to as a positioning system, which is not specifically limited in the embodiments of the present application.
  • the positioning system shown in Figure 3 includes three Bluetooth positioning base stations, namely the first Bluetooth positioning base station, the second Bluetooth positioning base station, and the third Bluetooth positioning base station. These three Bluetooth positioning base stations form a MESH network.
  • the positioning system shown in Figure 3 also includes a MESH gateway and a positioning server. Among them, the MESH gateway can be composed of a BLE module and a cellular mobile communication module.
  • Any Bluetooth positioning base station among the first Bluetooth positioning base station, the second Bluetooth positioning base station, and the third Bluetooth positioning base station can send data to the MESH gateway through the MESH network.
  • the first Bluetooth positioning base station is far away from the MESH gateway or there is an obstruction between the first Bluetooth positioning base station and the MESH gateway, the first Bluetooth positioning base station cannot directly connect to the MESH gateway, and the first Bluetooth base station can send data to the first Bluetooth positioning base station.
  • the Bluetooth positioning base station, and the second Bluetooth positioning base station forwards the data to the MESH gateway.
  • the method 200 may include at least part of the following content.
  • the at least one Bluetooth positioning base station includes the first Bluetooth positioning base station.
  • the embodiments of this application only take the first Bluetooth positioning base station as an example, but the application is not limited to this.
  • Other Bluetooth positioning base stations in a Bluetooth positioning base station can perform the same behavior as the first Bluetooth positioning base station.
  • the first Bluetooth positioning base station obtains a positioning instruction.
  • the positioning instruction may be preset on the first Bluetooth positioning base station.
  • the first Bluetooth positioning base station may obtain a positioning instruction at 12 o'clock every day on the first Bluetooth positioning base station.
  • the first Bluetooth positioning base station may be preset to obtain positioning instructions every 10 minutes.
  • the positioning server may send a positioning instruction to the MESH gateway through the cellular mobile communication network.
  • the MESH gateway may send the positioning instruction to the Bluetooth positioning base station through the MESH network.
  • the Bluetooth positioning base station herein may only include the first Bluetooth positioning base station, that is, the MESH gateway may only send a positioning instruction to the first Bluetooth positioning base station.
  • the Bluetooth positioning base station here may include all Bluetooth positioning base stations in the positioning system, such as the first Bluetooth positioning base station, the second Bluetooth positioning base station, and the third Bluetooth positioning base station in FIG. 3.
  • the first Bluetooth positioning base station obtains the positioning data of the target object within the range of the first Bluetooth positioning base station relative to the first Bluetooth positioning base station based on the positioning instruction.
  • the target object can be, but is not limited to, an animal, a robot, a shopping cart in a mall or a supermarket, a shared bicycle, etc.
  • the target objects within the range of the first Bluetooth positioning base station are animal 2 and animal 4.
  • the target object may be provided with a locator, and the positioning data may include positioning signal data determined by the first Bluetooth positioning base station according to the positioning signal sent by the locator set on the target object.
  • the locator may be a Bluetooth locator, such as a mini BLE locator.
  • the size of the miniature BLE locator can be as small as a button, and it depends on the battery to work continuously for months to years, so it is not only suitable for large objects, such as large mammals, but also for small objects, such as small poultry.
  • the BLE locator has a fast positioning speed and a short time, which can save power consumption.
  • the positioning data may be a received signal strength indication (RSSI) and/or a signal receiving angle between the target object and the first Bluetooth positioning base station.
  • RSSI received signal strength indication
  • the BLE locator set on the target object transmits positioning signals.
  • the first Bluetooth positioning base station can obtain the RSSI and/or between the target object and the first Bluetooth positioning base station. Signal reception angle.
  • the first Bluetooth positioning base station sends positioning data to the MESH gateway, and the positioning data is used by the positioning server to determine the position information of the target object.
  • the positioning data sent by the first Bluetooth positioning base station to the MESH gateway is referred to as the first positioning data.
  • the first positioning data sent by the first Bluetooth positioning base station to the MESH gateway may be calculated positioning data or uncalculated positioning data (for ease of description, referred to as original positioning data).
  • the first Bluetooth positioning base station obtains the original positioning data
  • the original positioning data can be calculated locally.
  • the first Bluetooth positioning base station sends the calculated positioning data to the MESH gateway.
  • the first Bluetooth positioning base station may not calculate the original positioning data locally, that is, not process the original positioning data, but directly send the original positioning data to the MESH gateway. At this time, the original positioning data is the same as the first positioning data. In this implementation manner, the Bluetooth positioning base station does not calculate the original positioning data, so that the calculation and storage burden of the Bluetooth positioning base station can be reduced, and the power consumption of the Bluetooth positioning base station can be further reduced.
  • a possible sending manner for the first Bluetooth positioning base station to send the first positioning data to the MESH gateway may include: after the first Bluetooth positioning base station obtains the first positioning data, it immediately sends the first positioning data to the MESH gateway.
  • Another possible sending manner for the first Bluetooth positioning base station to send the first positioning data to the MESH gateway may include: the first Bluetooth positioning base station sends the first positioning data within a preset time.
  • the preset time may be N ms after the first Bluetooth positioning base station obtains the first positioning data.
  • the preset time can be the hour of the day, that is, 6 o'clock, 7 o'clock, 8 o'clock, etc., each day. If the first Bluetooth base station obtains the first positioning data at 13:20, the first Bluetooth base station can be Send the first positioning data to the MESH gateway at 14:00.
  • the first positioning data may also include the identification of the target object and/or the identification of the first Bluetooth positioning base station.
  • the positioning server stores the object identifier and the correspondence between the object, and/or the positioning server stores the correspondence between the Bluetooth positioning base station identifier and the Bluetooth positioning base station.
  • the identification of the target object may be the index or number of the target object.
  • the number of the target object may be the number of the target object in the positioning system.
  • the first Bluetooth positioning base station may also indicate to the MESH gateway the timestamp for sending the first positioning data.
  • the timestamp may be a timestamp in universal standard time.
  • the time stamp may be a time stamp based on the local time of the MESH network (for the convenience of description, it is called a local time stamp).
  • the data length of the local time of the MESH network is less than the data length of the universal time.
  • the universal standard time is year, month, day, hour, minute, and second, and the local time of the MESH network can be hour, minute, and second.
  • the data length of the local time of the MESH network is less than the data length of the world standard time. In this way, the amount of data can be reduced and the power consumption can be reduced.
  • the MESH gateway also needs to determine the local time. After that, the first Bluetooth positioning base station needs to complete the local clock synchronization with the MESH gateway.
  • the MESH gateway may not process the local time stamp, or the MESH gateway can calculate the world where the first Bluetooth positioning base station sends positioning data based on the correspondence between the local time and the universal standard time Standard timestamp.
  • the MESH gateway sends positioning data to the positioning server through the cellular mobile communication network.
  • the positioning data sent by the MESH gateway to the positioning server is called the second positioning data.
  • the second positioning data may include the RSSI and/or signal reception angle between the target object and the first Bluetooth positioning base station, and the second positioning data may also include the identification of the target object and/or the identification of the first Bluetooth positioning base station.
  • the second positioning data may also include a timestamp of the first positioning data sent by the first Bluetooth positioning base station.
  • the second positioning data may also include the correspondence between the local time and the universal standard time.
  • the second positioning data may also include the universal standard time corresponding to the start time of the local time.
  • the second positioning data may not include the correspondence between the local time and the universal standard time.
  • the positioning server stores the correspondence between the local time sent by the MESH gateway to the positioning server at a previous time and the universal standard time. relationship.
  • the second positioning data sent by the MESH gateway to the positioning server each time does not necessarily include the correspondence between the local time and the universal standard time.
  • the MESH gateway can separately send the local time and the local time to the positioning server at any time before. Correspondence of the universal standard time, and instructs the positioning server to receive the second positioning data later on the basis of the correspondence.
  • the second positioning data may not include the correspondence between the local time and the universal standard time.
  • the MESH gateway needs to update the local time, the MESH gateway can separately send the updated local time and the world standard time to the positioning server, or the second positioning data can include the updated local time and the world standard Correspondence of time.
  • the MESH gateway may save the second positioning data and resend the second positioning data to the positioning server within the first time.
  • the first time may be preset on the MESH gateway.
  • the first time can be preset on the MESH gateway to be 10 ms after the MESH gateway fails to send the second positioning data.
  • the MESH gateway can correspond to a timer.
  • the timer is started. If the MESH gateway does not successfully send the second positioning data, the MESH gateway cannot resend the second positioning data to the locator before the timer expires.
  • the positioning server determines the position information of the target object according to the second positioning data.
  • the positioning server may determine the relative position between the target object and the first Bluetooth positioning base station based on the positioning signal data, and then the positioning server may determine the position of the target object based on the relative position and the location information of the first Bluetooth positioning base station information.
  • the positioning server may store the position information of the first Bluetooth positioning base station in advance.
  • the location information of the target object determined by the positioning server may include the coordinates of the target object in the geographic coordinate system, and the location information of the first Bluetooth positioning base station may include the coordinates of the first Bluetooth positioning base station in the geographic coordinate system.
  • the location information of the target object determined by the positioning server may include which region of the multiple regions the target object is located.
  • the positioning server can use the identification of the target object and the correspondence between the object identification and the object. Relationship, determine the target object; and/or, the positioning server may determine the first Bluetooth positioning base station according to the identification of the first Bluetooth positioning base station and the correspondence between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.
  • the positioning server determines the first Bluetooth positioning base station
  • the position information of the first Bluetooth positioning base station can be found in the stored position information of multiple Bluetooth positioning base stations, so that the relative position between the target object and the first Bluetooth positioning base station can be found , And determine the location information of the target object according to the location information of the first Bluetooth positioning base station.
  • the positioning server can determine the world standard time stamp corresponding to the location information of the target object according to the correspondence relationship between the local time stamp and the universal standard time.
  • the positioning server determines the position information of the target object in a period of time and the world standard time stamp corresponding to the position information, the trajectory of the target object can be determined, so that the tracking of the target object can be better realized.
  • Bluetooth positioning base stations around the target object that is, at least one Bluetooth positioning base station mentioned above
  • the positioning signal determines the first positioning data of the target object relative to itself, and sends the first positioning data to the positioning server through the MESH gateway.
  • the positioning server can then base on the first positioning data from several Bluetooth positioning base stations with the same time stamp. A positioning data to determine the location information of the target object.
  • the first Bluetooth positioning base station, the second Bluetooth positioning base station, and the third Bluetooth positioning base station can all receive the positioning signal from the animal 4, and the positioning server can be based on data from the first Bluetooth positioning base station and the second Bluetooth positioning base station. And the first positioning data of the third Bluetooth positioning base station to determine the position information of the animal 4.
  • the embodiment of the present application is only described by taking the positioning server determining the location information of the target object according to the first positioning data sent by the first Bluetooth positioning base station as an example, but the scope of the embodiment of the present application is not limited to this.
  • the above-mentioned positioning server determines the location information of the target object according to the first positioning data, which can be understood as: the first Bluetooth positioning base station sends the first positioning data to the MESH gateway, and after the MESH gateway receives the first positioning data, Certain processing may be performed on the first positioning data to obtain the second positioning data; or, the first positioning data may not be processed. In this case, the first positioning data may be the same as the second positioning data.
  • the MESH gateway sends the second positioning data to the positioning server through the cellular mobile communication network. After receiving the second positioning data, the positioning server determines the location information of the target object according to the second positioning data.
  • the positioning server can roughly determine the position information of the target object.
  • the positioning server locates the target object according to the first positioning data from multiple Bluetooth positioning base stations. In this way, precise positioning of the target object can be achieved.
  • first positioning data from several Bluetooth positioning base stations with the same time stamp does not mean that the time stamps of the first positioning data from several Bluetooth positioning base stations are absolutely the same, and the time stamp may allow a certain range Deviation within.
  • the positioning server can send the location information of the target object to the electronic device. In this way, the user can access the location information of the target object from the electronic device.
  • the electronic devices in the embodiments of the present application may be portable or mobile computing devices such as terminal devices, mobile phones, tablet computers, notebook computers, desktop computers, game devices, in-vehicle electronic devices, or wearable smart devices, and Electronic databases, automobiles, bank automated teller machines (Automated Teller Machine, ATM) and other electronic equipment.
  • the wearable smart device includes full-featured, large-sized, complete or partial functions that can be implemented without relying on smart phones, such as smart watches or smart glasses, etc., and only focus on a certain type of application function, and need to cooperate with other devices such as smart phones. Use, such as various types of smart bracelets, smart jewelry and other equipment for physical sign monitoring.
  • the target object is an animal 2 as an example, and the technical solutions of the embodiments of the present application will be described in detail with reference to specific embodiments.
  • the user arranges the MESH gateway and three Bluetooth positioning base stations according to the tracking area that needs to be covered.
  • the three Bluetooth positioning base stations are: a first Bluetooth positioning base station, a second Bluetooth positioning base station, and a third Bluetooth positioning base station.
  • the three Bluetooth positioning base stations can form a MESH network.
  • the user arranges the MESH gateway and three Bluetooth positioning base stations according to the tracking area to be covered, which may include: the user arranges the MESH gateway and three Bluetooth based on at least one of the size, terrain and environment of the tracking area to be covered Locate the base station.
  • the user can measure the coordinates of the three Bluetooth positioning base stations in the geographic coordinate system, and store the respective coordinate values in the positioning server.
  • each Bluetooth positioning base station and the MESH gateway complete local time synchronization.
  • Step 2 Positioning
  • the first Bluetooth positioning base station After receiving the positioning instruction, the first Bluetooth positioning base station obtains positioning data.
  • the positioning data includes the RSSI and the signal receiving angle between the animal 2 and the first Bluetooth positioning base station.
  • the first Bluetooth positioning base station does not calculate the RSSI and signal reception angle locally, but directly packs the RSSI, the signal reception angle, the number of animal 2, the number of the first Bluetooth positioning base station, and the local time stamp to obtain the first positioning data. And send the first positioning data to the MESH gateway.
  • Step 3 Positioning data transmission and processing
  • the MESH gateway After receiving the first positioning data, the MESH gateway can package the UTC corresponding to the start time of the local time to obtain the second positioning data, and send the second positioning data to the positioning server through the cellular mobile communication network.
  • the MESH gateway may save the second positioning data, and resend the second positioning data to the positioning server within the first time.
  • the behavior of the positioning server after receiving the second positioning data may include:
  • the positioning server sends the position information of the animal 2 and the world standard timestamp corresponding to the position information to the electronic device.
  • the BLE MESH network is combined with the cellular mobile communication network to locate the target object.
  • the Bluetooth positioning base station sends the positioning data to the MESH gateway through the MESH network, and the MESH gateway sends the positioning data through the cellular mobile communication network.
  • a BLE module can be combined with a cellular mobile communication module to form a MESH gateway, which eliminates the need to install a cellular mobile communication module for each target object, which can effectively reduce costs and is suitable for large Scale deployment.
  • each Bluetooth positioning base station can cover a radius of hundreds of meters to 2 kilometers. Therefore, a small number of Bluetooth positioning base stations can cover a range of several square kilometers, which is beneficial to reduce construction and maintenance costs.
  • the Bluetooth positioning base station can rely on battery, solar and wind power supply, which can continue to work for several years.
  • the GPS-based positioning method has a positioning accuracy of up to 10 meters. In the field terrain with obstructions, the positioning accuracy can be reduced to 100 meters.
  • the positioning accuracy of the MESH network can reach the centimeter level, so that high-precision positioning can be achieved.
  • the size of the sequence numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application. .
  • Fig. 4 is a schematic block diagram of a MESH gateway 400 according to an embodiment of the present application.
  • the MESH gateway is located in a hybrid wireless system of BLE’s MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations, a MESH gateway 300, and a positioning server. Multiple Bluetooth positioning base stations communicate with the MESH gateway 300 through the MESH network.
  • the MESH gateway 300 communicates with the positioning server through the cellular mobile communication network.
  • the MESH gateway 400 includes:
  • the BLE communication unit 410 is configured to receive positioning data sent by at least one Bluetooth positioning base station, where the positioning data is positioning data of a target object within the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station.
  • the plurality of Bluetooth positioning base stations includes the at least one Bluetooth positioning base station.
  • the cellular mobile communication unit 420 is configured to send the positioning data to the positioning server through the cellular mobile communication network, and the positioning data is used by the positioning server to determine the position information of the target object.
  • a Bluetooth locator is provided on the target object, and the positioning data includes positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal sent by the Bluetooth locator.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station; wherein, the identification of the object and the identification of the object are stored in the positioning server.
  • the corresponding relationship between the Bluetooth positioning base station and the identification of the Bluetooth positioning base station and the corresponding relationship between the Bluetooth positioning base station are stored in the positioning server.
  • the positioning data further includes a timestamp for sending the positioning data by the at least one Bluetooth positioning base station.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the positioning data sent by the cellular mobile communication unit 420 further includes the universal standard time corresponding to the start time of the local time.
  • the MESH gateway 400 further includes: a processing unit 430, configured to determine the local time.
  • the MESH gateway 400 further includes: a processing unit 430, configured to send the positioning data to the positioning server through the cellular mobile communication network and save the Positioning data;
  • the cellular mobile communication unit 420 is further configured to: re-send the positioning data to the positioning server within the first time.
  • the MESH gateway 400 may correspond to the MESH gateway in the method 200, and can implement the corresponding operations of the MESH gateway in the method 200. For the sake of brevity, details are not repeated here.
  • FIG. 5 shows a schematic block diagram of a Bluetooth positioning base station 500 according to an embodiment of the present application.
  • the Bluetooth positioning base station 500 is located in a hybrid wireless system of BLE’s MESH network and cellular mobile communication network.
  • the hybrid wireless system includes multiple Bluetooth positioning base stations, MESH gateways, and positioning servers. Multiple Bluetooth positioning base stations communicate with the MESH gateway through the MESH network.
  • the MESH gateway communicates with a positioning server through a cellular mobile communication network, and the Bluetooth positioning base station 500 is at least one Bluetooth positioning base station among a plurality of Bluetooth positioning base stations.
  • the Bluetooth positioning base station 500 includes:
  • the processing unit 510 is configured to obtain positioning instructions.
  • the processing unit 510 is further configured to obtain positioning data of a target object within the range of the at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station based on the positioning instruction.
  • the BLE communication unit 520 is configured to send the positioning data to the MESH gateway, where the positioning data is used by the positioning server to determine the location information of the target object.
  • a Bluetooth locator is provided on the target object, and the communication unit 520 is further configured to: receive a positioning signal sent by the Bluetooth positioning server, and the positioning data includes the processing The positioning signal data determined by the unit according to the positioning signal.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station; wherein, the identification of the object and the identification of the object are stored in the positioning server.
  • the corresponding relationship between the Bluetooth positioning base station and the identification of the Bluetooth positioning base station and the corresponding relationship between the Bluetooth positioning base station are stored in the positioning server.
  • the positioning data further includes a timestamp at which the communication unit 520 sends the positioning data.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the processing unit 510 is further configured to perform local area time synchronization with the MESH gateway.
  • the Bluetooth positioning base station 500 may correspond to the Bluetooth positioning base station in the method 200, and the corresponding operations of the Bluetooth positioning base station in the method 200 may be implemented. For the sake of brevity, details are not described herein again.
  • FIG. 6 shows a schematic block diagram of a positioning server 600 according to an embodiment of the present application.
  • the positioning server 600 is located in a hybrid wireless system of BLE's MESH network and a cellular mobile communication network.
  • the hybrid wireless system includes a plurality of Bluetooth positioning base stations, a MESH gateway, and a positioning server 600.
  • the plurality of Bluetooth positioning base stations pass through the MESH network and the MESH gateway.
  • the MESH gateway communicates with the positioning server 600 through the cellular mobile communication network.
  • the positioning server 600 includes:
  • the communication unit 610 is configured to receive positioning data sent by the MESH gateway through the cellular mobile communication network, where the positioning data is positioning data of a target object within the range of at least one Bluetooth positioning base station relative to the at least one Bluetooth positioning base station ,
  • the multiple Bluetooth positioning base stations include the at least one Bluetooth positioning base station.
  • the processing unit 620 is configured to determine the location information of the target object according to the positioning data.
  • a Bluetooth locator is provided on the target object, and the positioning data includes positioning signal data determined by the at least one Bluetooth positioning base station according to the positioning signal sent by the Bluetooth locator.
  • the positioning signal data includes a received signal strength indicator RSSI and/or a signal receiving angle between the target object and the at least one Bluetooth positioning base station.
  • the processing unit 620 is specifically configured to: determine the relative position between the target object and the at least one Bluetooth positioning base station according to the positioning signal data; The location and the location information of the at least one Bluetooth positioning base station determine the location information of the target object.
  • the positioning data further includes the identification of the target object and/or the identification of the at least one Bluetooth positioning base station;
  • the processing unit 620 is further configured to store the corresponding relationship between the object identifier and the object, and/or the positioning server stores the corresponding relationship between the identifier of the Bluetooth positioning base station and the Bluetooth positioning base station.
  • the processing unit 620 is further configured to: determine the target object according to the identifier of the target object and according to the correspondence between the object identifier and the object; and/or according to The identification of the at least one Bluetooth positioning base station, and the determination of the at least one Bluetooth positioning base station according to the correspondence between the identification of the Bluetooth positioning base station and the Bluetooth positioning base station.
  • the positioning data further includes a timestamp for sending the positioning data by the at least one Bluetooth positioning base station.
  • the time stamp is a time stamp based on the local time of the MESH network, and the data length of the local time is less than the data length of the universal time.
  • the positioning data further includes the universal standard time corresponding to the start time of the local time
  • the processing unit 620 is further configured to determine a world standard time stamp corresponding to the location information of the target object according to the time stamp and the universal standard time corresponding to the start time of the local time.
  • the communication unit 610 is further configured to send the location information of the target object to the electronic device.
  • the positioning server 600 may correspond to the positioning server in the method 200, and the corresponding operations of the positioning server in the method 200 may be implemented. For the sake of brevity, details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a chip 700 according to an embodiment of the present application.
  • the chip 700 shown in FIG. 7 includes a processor 710, a memory 720, and a transceiver 730.
  • the processor 710 may call and run a computer program from the memory 720 to implement the method in the embodiment of the present application.
  • the processor 710 may control the transceiver 730 to communicate with other nodes. Specifically, it may send data to other nodes or receive information or data sent by other nodes.
  • the transceiver 730 includes an input interface 731 and an output interface 732.
  • the processor 710 can control the input interface 731 and the output interface 732 to communicate with other devices or chips, thereby obtaining information or data sent by other devices or chips, or outputting information or data to other devices or chips.
  • the chip 700 may specifically be the MESH gateway of the embodiment of the present application, and the chip 700 may implement the corresponding processes implemented by the MESH gateway in the various methods of the embodiments of the present application. For the sake of brevity, details are not described herein again.
  • the chip 700 may specifically be a Bluetooth positioning base station in an embodiment of the present application, and the chip 700 may implement the corresponding processes implemented by the Bluetooth positioning base station in each method in the embodiments of the present application.
  • the chip 700 may implement the corresponding processes implemented by the Bluetooth positioning base station in each method in the embodiments of the present application.
  • details are not described herein again.
  • the aforementioned processor may be an integrated circuit chip with signal processing capabilities.
  • the steps of the foregoing method embodiments can be completed by hardware integrated logic circuits in the processor or instructions in the form of software.
  • the above-mentioned processor may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other Programming logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC application specific integrated circuit
  • FPGA ready-made programmable gate array
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the aforementioned memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), and electrically available Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be a random access memory (Random Access Memory, RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • DDR SDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • Enhanced SDRAM, ESDRAM Enhanced Synchronous Dynamic Random Access Memory
  • Synchronous Link Dynamic Random Access Memory Synchronous Link Dynamic Random Access Memory
  • DR RAM Direct Rambus RAM
  • FIG. 8 is a schematic block diagram of a positioning system 800 according to an embodiment of the present application.
  • the positioning system 800 includes multiple Bluetooth positioning base stations 810, a MESH gateway 820, and a positioning server 830.
  • the positioning system 800 is a hybrid wireless system of BLE's MESH network and a cellular mobile communication network.
  • the multiple Bluetooth positioning base stations 810 include at least one Bluetooth positioning base station mentioned in the above method.
  • the at least one Bluetooth positioning base station can be used to implement the corresponding functions implemented by the first Bluetooth positioning base station in the above method.
  • the MESH gateway 820 can be used In order to realize the corresponding functions realized by the MESH gateway in the above method, and the positioning server 830 may be used to realize the corresponding functions realized by the positioning server. For the sake of brevity, I will not repeat them here.
  • the embodiments of the present application also provide a computer-readable storage medium for storing computer programs.
  • the computer-readable storage medium can be applied to the MESH gateway, Bluetooth positioning base station or positioning server in the embodiments of the present application, and the computer program enables the computer to execute each method in the embodiments of the present application by the MESH gateway, Bluetooth positioning base station or positioning server For the sake of brevity, the corresponding implementation process will not be repeated.
  • the embodiments of the present application also provide a computer program product, including computer program instructions.
  • the computer program product can be applied to the MESH gateway, Bluetooth positioning base station or positioning server in the embodiments of this application, and the computer program instructions cause the computer to execute each method in the embodiments of this application.
  • the MESH gateway, the Bluetooth positioning base station or the positioning server are implemented For the sake of brevity, the corresponding process will not be repeated here.
  • B corresponding (corresponding) to A means that B is associated with A, and B can be determined according to A.
  • determining B according to A does not mean determining B only according to A, and B can also be determined according to A and/or other information.

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Abstract

一种定位的方法、装置和定位系统，可以实现低成本、高精度、长时间地对一定区域内的物体定位的目的。该定位的方法应用于BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，该混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，多个蓝牙定位基站通过MESH网络与MESH网关通信，MESH网关通过蜂窝移动通信网络与定位服务器进行通信；该方法包括：MESH网关接收至少一个蓝牙定位基站发送的定位数据，该定位数据为该至少一个蓝牙定位基站范围内的目标物体相对于该至少一个蓝牙定位基站的定位数据，多个蓝牙定位基站包括该至少一个蓝牙定位基站；MESH网关向定位服务器发送定位数据。

Description

定位的方法、装置和定位系统 技术领域
本申请实施例涉及定位技术领域，并且更具体地，涉及一种定位的方法、装置和定位系统。
背景技术
动物是自然生态系统不可缺少的组成部分。为了更好地对动物进行管理和监测，一些农场、野生动物园或者动物研究机构需要对户外一定区域内的动物进行定位，以对动物活动进行跟踪。
然而，目前的一些定位方式定位成本较高，不适用于农场、野生动物园或动物野放基地等范围。
发明内容
本申请实施例提供一种定位的方法、装置和定位系统，可以实现低成本、高精度、长时间地对一定区域内的物体定位的目的。
第一方面，提供了一种定位的方法，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：所述MESH网关接收至少一个蓝牙定位基站发送的定位数据，所述定位数据为所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；所述MESH网关通过所述蜂窝移动通信网络，向所述定位服务器发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
在一些可能的实现方式中，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
在一些可能的实现方式中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
在一些可能的实现方式中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
在一些可能的实现方式中，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
在一些可能的实现方式中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
在一些可能的实现方式中，所述MESH网关向所述定位服务器发送的所述定位数据还包括所述局域时间的起始时间对应的世界标准时间。
在一些可能的实现方式中，所述方法还包括：所述MESH网关确定所述局域时间。
在一些可能的实现方式中，所述方法还包括：若所述MESH网关通过所述蜂窝移动通信网络，未成功向所述定位服务器发送所述定位数据，所述MESH网关保存所述定位数据；所述MESH网关在第一时间内重新向所述定位服务器发送所述定位数据。
第二方面，提供了一种定位的方法，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：至少一个蓝牙定位基站获取定位指令，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；所述至少一个蓝牙定位基站基于所述定位指令，获取所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据；所述至少一个蓝牙定位基站向所述MESH网关发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
在一些可能的实现方式中，所述目标物体上设置有蓝牙定位器，所述方法还包括：
所述至少一个蓝牙定位基站接收所述蓝牙定位器发送的定位信号，所述定位数据包括所述至少一个蓝牙定位基站根据所述定位信号确定的定位信号数据。
在一些可能的实现方式中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
在一些可能的实现方式中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
在一些可能的实现方式中，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
在一些可能的实现方式中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
在一些可能的实现方式中，所述方法还包括：所述至少一个蓝牙定位基站进行与所述MESH网关之间的局域时间同步。
第三方面，提供了一种定位的方法，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：所述定位服务器通过所述蜂窝移动通信网络接收所述MESH网关发送的定位数据，所述定位数据为至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；所述定位服务器根据所述定位数据，确定所述目标物体的位置信息。
在一些可能的实现方式中，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
在一些可能的实现方式中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
在一些可能的实现方式中，所述定位服务器根据所述定位数据，确定所述目标物体的位置信息，包括：所述定位服务器根据所述定位信号数据，确定所述目标物体与所述至少一个蓝牙定位基站之间的相对位置；所述定位服务器根据所述相对位置和所述至少一个蓝牙定位基站的位置信息，确定所述目标物体的位置信息。
在一些可能的实现方式中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
所述方法还包括：所述定位服务器存储物体标识和物体之间的对应关系，和/或，所述定位服务器存储蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
在一些可能的实现方式中，所述方法还包括：所述定位服务器根据所述目标物体的标识，以及根据物体标识和物体之间的对应关系，确定所述目标物体；和/或所述定位服务器根据所述至少一个蓝牙定位基站的标识，以及根据所述蓝牙定位基站的标识和蓝牙定位基站之间的对应关系，确定所述至少一个蓝牙定位基站。
在一些可能的实现方式中，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
在一些可能的实现方式中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
在一些可能的实现方式中，所述定位数据还包括所述局域时间的起始时间对应的世界标准时间；所述方法还包括：所述定位服务器根据所述时间戳和所述局域时间的起始时间对应的世界标准时间，确定所述目标物体的位置信息对应的世界标准时间戳。
在一些可能的实现方式中，所述方法还包括：所述定位服务器向电子设备发送所述目标物体的位置信息。
第四方面，提供了一种MESH网关，所述MESH网关位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、所述MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述MESH网关包括用于执行第一方面或第一方面的任意可能的实现方式中的方法的功能模块。
第五方面，提供了一种蓝牙定位基站，所述蓝牙定位基站位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述蓝牙定位基站为所 述多个蓝牙定位基站中的至少一个蓝牙定位基站，所述蓝牙定位基站包括用于执行第二方面或第二方面的任意可能的实现方式中的方法的功能模块。
第六方面，提供了一种定位服务器，所述定位服务器位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、所述定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述定位服务器包括用于执行第三方面或第三方面的任意可能的实现方式中的方法的功能模块。
第七方面，提供了一种芯片，所述芯片包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，以执行第一方面或第一方面的任意可能的实现方式中的方法。
第八方面，提供了一种芯片，所述芯片包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，以执行第二方面或第二方面的任意可能的实现方式中的方法。
第九方面，提供了一种芯片，所述芯片包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，以执行第三方面或第三方面的任意可能的实现方式中的方法。
第十方面，提供了一种计算机可读存储介质，所述计算机可读存储介质用于存储计算机程序。其中，当所述计算机程序被处理器执行时，使得所述处理器执行第一方面或第一方面的任意可能的实现方式中的方法。
第十一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质用于存储计算机程序。其中，当所述计算机程序被处理器执行时，使得所述处理器执行第二方面或第二方面的任意可能的实现方式中的方法。
第十二方面，提供了一种计算机可读存储介质，所述计算机可读存储介质用于存储计算机程序。其中，当所述计算机程序被处理器执行时，使得所述处理器执行第三方面或第三方面的任意可能的实现方式中的方法。
第十三方面，提供了一种计算机程序产品，包括计算机程序指令，该计算机程序指令使得计算机执行上述第一方面或第一方面的任意可能的实现方式中的方法。
第十四方面，提供了一种计算机程序产品，包括计算机程序指令，该计算机程序指令使得计算机执行上述第二方面或第二方面的任意可能的实现 方式中的方法。
第十五方面，提供了一种计算机程序产品，包括计算机程序指令，该计算机程序指令使得计算机执行上述第三方面或第三方面的任意可能的实现方式中的方法。
第十六方面，提供了一种定位系统，所述定位系统为低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统，所述定位系统包括：上述第四方面的MESH网关，多个蓝牙定位基站和上述第六方面的定位服务器，所述多个蓝牙定位基站包括上述第五方面的至少一个蓝牙定位基站，；
其中，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信。
上述技术方案采用BLE的MESH网络与蜂窝移动通信网络结合的方式对目标物体进行定位，蓝牙定位基站通过MESH网络将定位数据发送到MESH网关，再由MESH网关将定位数据通过蜂窝移动通信网络发送到定位服务器。由于一个定位系统最少可以配置一个MESH网关，一个BLE模块可以与一个蜂窝移动通信模块组合为一个MESH网关，这样可以不用给每个目标物体都安装蜂窝移动通信模块，从而可以有效降低成本，适合大规模部署。此外，每座蓝牙定位基站可以覆盖半径数百米～2千米的范围，因此，可以使用少量的蓝牙定位基站就可以覆盖数平方公里的范围，有利于降低建设成本与维护成本。
进一步地，蓝牙定位基站可以依靠电池、太阳能和风力供电，从而可以持续工作数年。此外，MESH网络的定位精度最高可以达到厘米级，从而可以实现高精度定位。
附图说明
图1是本申请实施例所适用的MESH网络的示意图。
图2是本申请实施例的定位的方法的流程交互图。
图3是本申请实施例的定位系统的示意图。
图4是本申请实施例的MESH网关的示意性框图。
图5是本申请实施例的蓝牙定位基站的示意性框图。
图6是本申请实施例的定位服务器的示意性框图。
图7是本申请实施例的芯片的示意性框图。
图8是本申请实施例的定位系统的示意性框图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
目前的定位方式主要有以下几种：
(1)基于卫星定位系统，即全球定位系统(Global Positioning System，GPS)的定位方式
GPS接收机功耗较大，如果需要长期跟踪某个动物，则需要为该动物配置体积较大的电池，因此，GPS定位方式不适用于小型动物。进一步地，如果定位设备需要自动发送动物移动轨迹数据，则还需要在定位设备上增加蜂窝移动通信模块，这样会进一步增大定位设备的功耗与体积，且成本较高，不适合大规模的部署。
(2)采用无线电定位项圈的方式
该定位方式是最传统的定位方式，构造简单、可靠性高、定位设备价格便宜，但是需要人工无线电三角定位。该定位方式的人力需求较多，工作强度很大，导致综合成本较高，无法跟踪较多的动物。
(3)基于星光定位系统的定位方式
星光定位器虽然体积小、重量轻，但是定位精度低，所以一般适用于数千到上万公里移动距离的跟踪，而不适合农场、野生动物园、动物野放基地等相对小尺度的范围。
(4)基于蜂窝移动通信网络的定位方式
该定位方式的定位精度低，尤其是在地形复杂、基站密度很低的野外地区。此外，该定位方式的定位设备包括蜂窝移动通信模块，蜂窝移动通信模块的功耗较大、成本较高，不适合大规模部署。
鉴于此，本申请实施例提出了一种定位方法，本申请实施例的定位方法采用低功耗蓝牙(Bluetooth Low Energy，BLE)的MESH网络和蜂窝移动通信网络联合组网的方式，可以实现低成本、高精度、长时间地对一定区域内的物体定位的目的。
为了更清楚地理解本申请实施例的方案，下面首先对MESH网络进行简单描述。
图1是一种可能的MESH网络的示意图。该MESH网络中包括多个设备，每个设备可以称为一个节点(node)。每个节点都可以进行数据传输。数据包可以在各个节点之间被中继，从而使该数据包传输至距离更远的位置。在实际应用中，这些节点可以被分布在制造工厂、办公楼、购物中心、商业园区、家庭以及其他环境中。该MESH网络中可以包括任意数量的节点，图1中仅以节点A至节点G为例。在MESH网络中，数据包基于广播(advertising)的方式进行传输。每个节点接收另一节点发送的数据包后，对该数据包进行无条件转发，从而将该数据包转发给附近其他节点。
例如，从节点A至节点B的数据包可以经过至少一次中继。其中，节点C接收到节点A发送的数据包后，可以将该数据包转发给节点D和节点G；节点D接收到该数据包后，可以将该数据包分别转发给节点G和节点B；节点G接收到该数据包后，可以将该数据包转发给节点B、节点E和节点F。由于是基于advertising的方式进行数据包传输，数据传输不可靠，因此，节点A向节点B发送该数据包时，可以多次重复发送该数据包，以确保数据包成功接收。
图2是本申请实施例的定位的方法的流程交互图。图2所示的方法200可以应用于BLE的MESH网络与蜂窝移动通信网络的混合无线系统中。该混合无线系统可以包括多个蓝牙定位基站、MESH网关以及定位服务器，其中，多个蓝牙定位基站可以通过MESH网络与MESH网关通信，MESH网关可以通过蜂窝移动通信网络与定位服务器进行通信。
图3为一种可能的混合无线系统的示意图。应理解，在本申请实施例中，混合无线系统也可以称为定位系统，本申请实施例对此不作具体限定。图3所示的定位系统包括3个蓝牙定位基站，分别为第一蓝牙定位基站、第二蓝牙定位基站和第三蓝牙定位基站，这三个蓝牙定位基站组成了MESH网络。此外，图3所示的定位系统还包括MESH网关和定位服务器。其中，MESH网关可以由一个BLE模块与一个蜂窝移动通信模块组成。
第一蓝牙定位基站、第二蓝牙定位基站以及第三蓝牙定位基站中的任意蓝牙定位基站可以通过MESH网络将数据发送到MESH网关。比如，由于第一蓝牙定位基站距离MESH网关较远或第一蓝牙定位基站与MESH网关之间有阻挡物，第一蓝牙定位基站无法直接连接到MESH网关，第一蓝牙基站可以将数据发送给第二蓝牙定位基站，再由第二蓝牙定位基站将数据转发 给MESH网关。
如图2所示，该方法200可以包括以下内容中的至少部分内容。需要说明的是，至少一个蓝牙定位基站包括第一蓝牙定位基站，本申请实施例仅以第一蓝牙定位基站为例进行说明，但本申请并不限于此，该至少一个蓝牙定位基站中除第一蓝牙定位基站中的其他蓝牙定位基站可以执行与第一蓝牙定位基站相同的行为。
在210中，第一蓝牙定位基站获取定位指令。
作为一种示例，该定位指令可以是预设在第一蓝牙定位基站上的。比如，可以在第一蓝牙定位基站上预设每天的12点第一蓝牙定位基站获取定位指令。再比如，可以在第一蓝牙定位基站上预设每隔10min获取定位指令。
作为另一种示例，定位服务器可以通过蜂窝移动通信网络，向MESH网关发送定位指令，MESH网关接收到该定位指令后，可以通过MESH网络向蓝牙定位基站发送定位指令。可选地，此处的蓝牙定位基站可以只包括第一蓝牙定位基站，即MESH网关可以只向第一蓝牙定位基站发送定位指令。可选地，此处的蓝牙定位基站可以包括定位系统中的所有蓝牙定位基站，如图3中的第一蓝牙定位基站、第二蓝牙定位基站和第三蓝牙定位基站。
在220中，第一蓝牙定位基站基于定位指令，获取第一蓝牙定位基站范围内的目标物体相对于第一蓝牙定位基站的定位数据。
其中，目标物体可以是但不限于动物、机器人、商场或超市内的购物车、共享单车等。参考图3，第一蓝牙定位基站内范围内的目标物体为动物2和动物4。
目标物体上可以设置有定位器，定位数据可以包括第一蓝牙定位基站根据目标物体上设置的定位器发送的定位信号确定的定位信号数据。
可选地，该定位器可以为蓝牙定位器，如微型BLE定位器。微型BLE定位器的体积可以小到纽扣大小，并依靠电池持续工作数月到数年，因此不仅适用于大型物体，如大型哺乳动物，同样也适合于小型物体，如小型家禽。此外，与卫星定位相比，BLE定位器定位速度快、时间短，从而可以节省功耗。
可选地，定位数据可以为目标物体与第一蓝牙定位基站之间的接收信号强度指示(Received Signal Strength Indication，RSSI)和/或信号接收角度。具体而言，目标物体上设置的BLE定位器发射定位信号，第一蓝牙定位基 站接收到BLE定位器发射的定位信号后，可以获取到目标物体与第一蓝牙定位基站之间的RSSI和/或信号接收角度。
在230中，第一蓝牙定位基站向MESH网关发送定位数据，该定位数据用于定位服务器确定目标物体的位置信息。为了后续描述方便，将第一蓝牙定位基站向MESH网关发送的定位数据称为第一定位数据。
第一蓝牙定位基站向MESH网关发送的第一定位数据可以是计算后的定位数据，也可以是未计算的定位数据(为了描述方便，称为原始定位数据)。
也就是说，第一蓝牙定位基站获取到原始定位数据后，在一种实现方式中，可以在本地计算原始定位数据，计算完成后，第一蓝牙定位基站向MESH网关发送计算后的定位数据。
在另一种实现方式中，第一蓝牙定位基站可以不在本地计算原始定位数据，即不对原始定位数据进行处理，而是直接将原始定位数据发送给MESH网关。此时，原始定位数据与第一定位数据相同。在该实现方式中，蓝牙定位基站不计算原始定位数据，使得可以降低蓝牙定位基站的运算与存储负担，进一步可以降低蓝牙定位基站的功耗。
第一蓝牙定位基站向MESH网关发送第一定位数据的一种可能的发送方式可以包括：第一蓝牙定位基站获取到第一定位数据后，立即向MESH网关发送第一定位数据。
第一蓝牙定位基站向MESH网关发送第一定位数据的另一种可能的发送方式可以包括：第一蓝牙定位基站在预设时间内发送第一定位数据。例如，预设时间可以是第一蓝牙定位基站获取到第一定位数据的N ms。如N＝5，即第一蓝牙基站获取到第一定位数据后，可以在5ms后向MESH网关发送第一定位数据。再例如，预设时间可以是每天的整点时间，即每天的6点、7点、8点等，如第一蓝牙基站在13:20获取到第一定位数据，则第一蓝牙基站可以在14点向MESH网关发送第一定位数据。
进一步地，第一定位数据还可以包括目标物体的标识和/或第一蓝牙定位基站的标识。在该示例中，定位服务器中存储有物体标识和物体之间的对应关系，和/或，定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
可选地，目标物体的标识可以是目标物体的索引或编号。目标物体的编号可以为目标物体在定位系统内的编号。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
进一步地，第一蓝牙定位基站还可以向MESH网关指示发送第一定位数据的时间戳。
该时间戳可以是采用世界标准时间的时间戳。或者，该时间戳可以是基于MESH网络的局域时间的时间戳(为了描述方便，称为局域时间戳)。其中，MESH网络的局域时间的数据长度小于世界标准时间的数据长度。比如，世界标准时间为年月日时分秒，MESH网络的局域时间可以为时分秒。
MESH网络的局域时间的数据长度小于世界标准时间的数据长度，如此，可以减少数据量，降低功耗。
若时间戳为局域时间戳，在本申请实施例中，MESH网关还需要确定局域时间，之后，第一蓝牙定位基站需要与MESH网关完成局域时钟同步。
MESH网关接收到局域时间戳后，MESH网关可以不对局域时间戳进行处理，或者，MESH网关可以根据局域时间与世界标准时间的对应关系，计算出第一蓝牙定位基站发送定位数据的世界标准时间戳。
在240中，MESH网关通过蜂窝移动通信网络，向定位服务器发送定位数据。为了描述方便，将MESH网关向定位服务器发送的定位数据称为第二定位数据。
应理解，在本申请实施例中，“第一”和“第二”仅仅为了区分不同的对象，但并不对本申请实施例的范围构成限制。
其中，第二定位数据可以包括目标物体与第一蓝牙定位基站之间的RSSI和/或信号接收角度，第二定位数据还可以包括目标物体的标识和/或第一蓝牙定位基站的标识。
进一步地，第二定位数据还可以包括第一蓝牙定位基站发送第一定位数据的时间戳。
若MESH网关向定位服务器发送的时间戳是局域时间戳，在该情况下，可选地，第二定位数据还可以包括局域时间与世界标准时间的对应关系。比如，第二定位数据还可以包括局域时间的起始时间对应的世界标准时间。或者，第二定位数据可以不包括局域时间与世界标准时间的对应关系，此时，定位服务器中保存有MESH网关在之前的某一时刻向定位服务器发送的局 域时间与世界标准时间的对应关系。
也就是说，MESH网关每次向定位服务器发送的第二定位数据中并不一定包括局域时间与世界标准时间的对应关系，MESH网关可以在之前的任意时刻单独向定位服务器发送局域时间与世界标准时间的对应关系，并指示定位服务器之后接收到的第二定位数据皆以此对应关系为基准。这样的话，MESH网关之后向定位服务器发送第二定位数据时，第二定位数据中可以不包括局域时间与世界标准时间的对应关系。当MESH网关需要更新局域时间时，MESH网关可以单独向定位服务器发送更新后的局域时间与世界标准时间的对应关系，或者，第二定位数据中可以包括更新后的局域时间与世界标准时间的对应关系。
若MESH网关通过蜂窝移动通信网络，未成功向定位服务器发送第二定位数据，则MESH网关可以保存第二定位数据，并在第一时间内重新向定位服务器发送该第二定位数据。
可选地，第一时间可以是预设在MESH网关上的。例如，可以在MESH网关上预设第一时间为MESH网关未成功发送第二定位数据之后的10ms。
可选地，MESH网关可以对应一个定时器。在MESH网关向定位服务器发送第二定位数据时，该定时器开启，若MESH网关未成功发送第二定位数据，在该定时器超时之前，MESH网关不能向定位器重新发送该第二定位数据。
在250中，定位服务器接收到第二定位数据后，根据第二定位数据确定目标物体的位置信息。
具体而言，定位服务器可以根据定位信号数据，确定目标物体与第一蓝牙定位基站之间的相对位置，然后，定位服务器可以根据相对位置和第一蓝牙定位基站的位置信息，确定目标物体的位置信息。
可选地，定位服务器可以提前存储第一蓝牙定位基站的位置信息。
其中，定位服务器确定的目标物体的位置信息可以包括目标物体在地理坐标系中的坐标，第一蓝牙定位基站的位置信息可以包括第一蓝牙定位基站在地理坐标系中的坐标。或者，定位服务器确定的目标物体的位置信息可以包括目标物体在多个区域中的哪个区域。
进一步地，若第二定位数据中包括目标物体的标识和/或第一蓝牙定位基站的标识，定位服务器接收到第二定位数据后，可以根据目标物体的标识， 以及根据物体标识和物体的对应关系，确定目标物体；和/或，定位服务器可以根据第一蓝牙定位基站的标识，以及根据蓝牙定位基站的标识和蓝牙定位基站之间的对应关系，确定第一蓝牙定位基站。
在定位服务器确定第一蓝牙定位基站后，可以在存储的多个蓝牙定位基站的位置信息中找到第一蓝牙定位基站的位置信息，从而可以根据目标物体与第一蓝牙定位基站之间的相对位置，以及根据第一蓝牙定位基站的位置信息，确定目标物体的位置信息。
进一步地，若第二定位数据中包括的时间戳为局域时间戳，则定位服务器可以根据局域时间戳和世界标准时间的对应关系，确定目标物体的位置信息对应的世界标准时间戳。
在定位服务器确定了目标物体在一段时间内的位置信息和位置信息对应的世界标准时间戳之后，可以确定目标物体的活动轨迹，从而可以更好地实现对目标物体的跟踪。
需要说明的是，若目标物体周围的若干个蓝牙定位基站(即上文提到的至少一个蓝牙定位基站)都可以接收到目标物体发送的定位信号，并且该若干个蓝牙定位基站都根据接收到的定位信号确定了目标物体相对于自身的第一定位数据，并通过MESH网关将第一定位数据都发送给了定位服务器，则定位服务器可以根据来自若干个蓝牙定位基站的具有同样时间戳的第一定位数据，确定目标物体的位置信息。
再次参考图3，第一蓝牙定位基站、第二蓝牙定位基站和第三蓝牙定位基站都可以接收到来自动物4的定位信号，则定位服务器可以根据来自第一蓝牙定位基站、第二蓝牙定位基站和第三蓝牙定位基站的第一定位数据，确定动物4的位置信息。
应理解，本申请实施例仅以定位服务器根据第一蓝牙定位基站发送的第一定位数据确定目标物体的位置信息为例进行说明的，但本申请实施例的范围并不限于此。
还应理解，上文提到的定位服务器根据第一定位数据确定目标物体的位置信息可以理解为：第一蓝牙定位基站向MESH网关发送第一定位数据，MESH网关接收到第一定位数据后，可以对第一定位数据进行一定的处理以得到第二定位数据；或者，也可以不对第一定位数据进行处理，此时，第一定位数据可以与第二定位数据相同。之后，MESH网关通过蜂窝移动通信网 络向定位服务器发送第二定位数据，定位服务器接收到第二定位数据后，根据第二定位数据确定目标物体的位置信息。
如果只有一个蓝牙定位基站接收到了目标物体的定位信号，那么定位服务器可以粗略确定目标物体的位置信息。定位服务器根据来自多个蓝牙定位基站的第一定位数据，对目标物体进行定位。如此，可以实现对目标物体的精确定位。
应理解，上文提到的来自若干个蓝牙定位基站的具有同样时间戳的第一定位数据并不表示来自若干个蓝牙定位基站的第一定位数据的时间戳绝对相同，时间戳可以允许一定范围内的偏差。
定位服务器确定了目标物体的位置信息后，可以向电子设备向发送目标物体的位置信息，这样的话，用户可以从电子设备上访问目标物体的位置信息。
作为示例而非限定，本申请实施例中的电子设备可以为终端设备、手机、平板电脑、笔记本电脑、台式机电脑、游戏设备、车载电子设备或穿戴式智能设备等便携式或移动计算设备，以及电子数据库、汽车、银行自动柜员机(Automated Teller Machine，ATM)等其他电子设备。该穿戴式智能设备包括功能全、尺寸大、可不依赖智能手机实现完整或部分的功能，例如：智能手表或智能眼镜等，以及只专注于某一类应用功能，需要和其它设备如智能手机配合使用，如各类进行体征监测的智能手环、智能首饰等设备。
下面以目标物体为动物2为例，结合具体的实施例详细描述本申请实施例的技术方案。
步骤1：组网
a)用户根据需要覆盖的跟踪区域布置MESH网关和三个蓝牙定位基站。其中，该三个蓝牙定位基站分别为：第一蓝牙定位基站、第二蓝牙定位基站和第三蓝牙定位基站，该三个蓝牙定位基站可以组成一个MESH网络。
可选地，用户根据需要覆盖的跟踪区域布置MESH网关和三个蓝牙定位基站，可以包括：用户根据需要覆盖的跟踪区域的大小、地形和环境中的至少一个因素，布置MESH网关和三个蓝牙定位基站。
b)用户测试该三个蓝牙定位基站是否可以将数据发送到MESH网关。若该三个蓝牙定位基站的数据都可以发送到MESH网关，则固定该三个蓝牙定位基站和MESH网关的位置；若该三个蓝牙定位基站不能将数据发送到 MESH网关，则重新布置蓝牙定位基站的位置和/或MESH网关的位置，直到该三个蓝牙定位基站都可以将数据发送到MESH网关。
c)用户在分别固定了这三个蓝牙定位基站的位置后，可以分别测量这三蓝牙定位基站在地理坐标系中的坐标，并将各自的坐标值存储在定位服务器中。
d)MESH网络建立完成后，各蓝牙定位基站与MESH网关完成局域时间同步。
步骤2：定位
第一蓝牙定位基站接收到定位指令后，获取定位数据。其中，该定位数据包括动物2与第一蓝牙定位基站之间的RSSI和信号接收角度。第一蓝牙定位基站不在本地计算RSSI和信号接收角度，而是直接将RSSI、信号接收角度、动物2的编号、第一蓝牙定位基站的编号、局域时间戳组包，得到第一定位数据，并将第一定位数据发送给MESH网关。
步骤3：定位数据传输与处理
MESH网关接收到第一定位数据后，可以将局域时间的起始时间对应的世界标准时间组包得到第二定位数据，并通过蜂窝移动通信网络将第二定位数据发送给定位服务器。
如果MESH网关未成功向定位服务器发送第二定位数据，则MESH网关可以保存第二定位数据，并在第一时间内重新向定位服务器发送第二定位数据。
定位服务器接收到第二定位数据后的行为可以包括：
a)根据RSSI和信号接收角度计算动物2和第一蓝牙定位基站的相对坐标。
b)基于计算出的动物2与第一蓝牙定位基站的相对坐标，并结合第一蓝牙定位基站在地理坐标系中的坐标，确定动物2在地理坐标系中的坐标。
c)根据第二定位数据中的局域时间戳与局域时间的起始时间对应的世界标准时间，确定第一蓝牙定位基站发送定位数据的世界标准时间戳。
之后，定位服务器将动物2的位置信息以及该位置信息对应的世界标准时间戳，发送给电子设备。
本申请实施例采用BLE的MESH网络与蜂窝移动通信网络结合的方式对目标物体进行定位，蓝牙定位基站通过MESH网络将定位数据发送到 MESH网关，再由MESH网关将定位数据通过蜂窝移动通信网络发送到定位服务器。由于一个定位系统最少可以配置一个MESH网关，一个BLE模块可以与一个蜂窝移动通信模块组合为一个MESH网关，这样可以不用给每个目标物体都安装蜂窝移动通信模块，从而可以有效降低成本，适合大规模部署。此外，每座蓝牙定位基站可以覆盖半径数百米～2千米的范围，因此，可以使用少量的蓝牙定位基站就可以覆盖数平方公里的范围，有利于降低建设成本与维护成本。
进一步地，蓝牙定位基站可以依靠电池、太阳能和风力供电，从而可以持续工作数年。此外，基于GPS的定位方式的定位精度最高为10米，在有阻挡物的野外地形，定位精度可以下降到100米，MESH网络的定位精度最高可以达到厘米级，从而可以实现高精度定位。
在本申请实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
并且，在不冲突的前提下，本申请描述的各个实施例和/或各个实施例中的技术特征可以任意的相互组合，组合之后得到的技术方案也应落入本申请的保护范围。
上文中详细描述了根据本申请实施例的定位的方法，下面将结合图4至图6，描述根据本申请实施例的装置，方法实施例所描述的技术特征适用于以下装置实施例。
图4是根据本申请实施例的MESH网关400的示意性框图。该MESH网关位于BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，该混合无线系统包括多个蓝牙定位基站、MESH网关300、定位服务器，多个蓝牙定位基站通过MESH网络与MESH网关300通信，MESH网关300通过蜂窝移动通信网络与定位服务器进行通信。如图4所示，MESH网关400包括：
BLE通信单元410，用于接收至少一个蓝牙定位基站发送的定位数据，所述定位数据为所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站。
蜂窝移动通信单元420，用于通过所述蜂窝移动通信网络，向所述定位 服务器发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
可选地，在本申请实施例中，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
可选地，在本申请实施例中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
可选地，在本申请实施例中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
可选地，在本申请实施例中，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
可选地，在本申请实施例中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
可选地，在本申请实施例中，所述蜂窝移动通信单元420发送的定位数据还包括所述局域时间的起始时间对应的世界标准时间。
可选地，在本申请实施例中，所述MESH网关400还包括：处理单元430，用于确定所述局域时间。
可选地，在本申请实施例中，所述MESH网关400还包括：处理单元430，用于若通过所述蜂窝移动通信网络，未成功向所述定位服务器发送所述定位数据，保存所述定位数据；
所述蜂窝移动通信单元420还用于：在第一时间内重新向所述定位服务器发送所述定位数据。
应理解，该MESH网关400可对应于方法200中的MESH网关，可以实现该方法200中的MESH网关的相应操作，为了简洁，在此不再赘述。
图5示出了本申请实施例的蓝牙定位基站500的示意性框图。蓝牙定位基站500位于BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，该混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，多个蓝牙定位基站通过MESH网络与MESH网关通信，MESH网关通过蜂窝移动通信网络与定位服务器进行通信，该蓝牙定位基站500为多个蓝牙定位基站 中的至少一个蓝牙定位基站。如图5所示，该蓝牙定位基站500包括：
处理单元510，用于获取定位指令。
所述处理单元510还用于，基于所述定位指令，获取所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据。
BLE通信单元520，用于向所述MESH网关发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
可选地，在本申请实施例中，所述目标物体上设置有蓝牙定位器，所述通信单元520还用于：接收所述蓝牙定位服务器发送的定位信号，所述定位数据包括所述处理单元根据所述定位信号确定的定位信号数据。
可选地，在本申请实施例中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
可选地，在本申请实施例中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
可选地，在本申请实施例中，所述定位数据还包括所述通信单元520发送所述定位数据的时间戳。
可选地，在本申请实施例中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
可选地，在本申请实施例中，所述处理单元510还用于：进行与所述MESH网关之间的局域时间同步。
应理解，该蓝牙定位基站500可对应于方法200中的蓝牙定位基站，可以实现该方法200中的蓝牙定位基站的相应操作，为了简洁，在此不再赘述。
图6示出了本申请实施例的定位服务器600的示意性框图。该定位服务器600位于BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，该混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器600，该多个蓝牙定位基站通过MESH网络与MESH网关通信，MESH网关通过蜂窝移动通信网络与定位服务器600进行通信。如图6所示，该定位服务器600包括：
通信单元610，用于通过所述蜂窝移动通信网络接收所述MESH网关发送的定位数据，所述定位数据为至少一个蓝牙定位基站范围内的目标物体相 对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站。
处理单元620，用于根据所述定位数据，确定所述目标物体的位置信息。
可选地，在本申请实施例中，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
可选地，在本申请实施例中，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
可选地，在本申请实施例中，所述处理单元620具体用于：根据所述定位信号数据，确定所述目标物体与所述至少一个蓝牙定位基站之间的相对位置；根据所述相对位置和所述至少一个蓝牙定位基站的位置信息，确定所述目标物体的位置信息。
可选地，在本申请实施例中，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
所述处理单元620还用于：存储物体标识和物体之间的对应关系，和/或，所述定位服务器存储蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
可选地，在本申请实施例中，所述处理单元620还用于：根据所述目标物体的标识，以及根据物体标识和物体之间的对应关系，确定所述目标物体；和/或根据所述至少一个蓝牙定位基站的标识，以及根据所述蓝牙定位基站的标识和蓝牙定位基站之间的对应关系，确定所述至少一个蓝牙定位基站。
可选地，在本申请实施例中，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
可选地，在本申请实施例中，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
可选地，在本申请实施例中，所述定位数据还包括所述局域时间的起始时间对应的世界标准时间；
所述处理单元620还用于：根据所述时间戳和所述局域时间的起始时间对应的世界标准时间，确定所述目标物体的位置信息对应的世界标准时间戳。
可选地，在本申请实施例中，所述通信单元610还用于：向电子设备发送所述目标物体的位置信息。
应理解，该定位服务器600可对应于方法200中的定位服务器，可以实现该方法200中的定位服务器的相应操作，为了简洁，在此不再赘述。
图7是本申请实施例的一种芯片700的示意性结构图。图7所示的芯片700包括处理器710、存储器720、以及收发器730。
其中，处理器710可以从存储器720中调用并运行计算机程序，以实现本申请实施例中的方法。处理器710可以控制收发器730与其他节点之间进行通信，具体地，可以向其他节点发送数据，或接收其他节点发送的信息或数据。
收发器730包括输入接口731和输出接口732。处理器710可以控制输入接口731和输出接口732与其他设备或芯片之间进行通信，从而获取其他设备或芯片发送的信息或数据，或者向其他设备或芯片输出信息或数据。
可选地，芯片700具体可为本申请实施例的MESH网关，并且芯片700可以实现本申请实施例的各个方法中由MESH网关实现的相应流程，为了简洁，在此不再赘述。
可选地，芯片700具体可为本申请实施例的蓝牙定位基站，并且芯片700可以实现本申请实施例的各个方法中由蓝牙定位基站实现的相应流程，为了简洁，在此不再赘述。
上述的处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
上述的存储器可以是易失性存储器或非易失性存储器，或可包括易失性 和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。
图8是本申请实施例的一种定位系统800的示意性框图。如图8所示，该定位系统800包括多个蓝牙定位基站810、MESH网关820和定位服务器830。
其中，该定位系统800为BLE的MESH网络与蜂窝移动通信网络的混合无线系统。该多个蓝牙定位基站810包括上述方法提到的至少一个蓝牙定位基站，该至少一个蓝牙定位基站可以用于实现上述方法中由第一蓝牙定位基站实现的相应的功能，该MESH网关820可以用于实现上述方法中由MESH网关实现的相应的功能，以及该定位服务器830可以用于实现由定位服务器实现的相应的功能。为了简洁，在此不再赘述。
本申请实施例还提供了一种计算机可读存储介质，用于存储计算机程序。该计算机可读存储介质可应用于本申请实施例中的MESH网关、蓝牙定位基站或定位服务器，并且该计算机程序使得计算机执行本申请实施例的各个方法中由MESH网关、蓝牙定位基站或定位服务器实现的相应流程，为了简洁，不再赘述。
本申请实施例还提供了一种计算机程序产品，包括计算机程序指令。该计算机程序产品可应用于本申请实施例中的MESH网关、蓝牙定位基站或定位服务器，并且该计算机程序指令使得计算机执行本申请实施例的各个方法中由MESH网关、蓝牙定位基站或定位服务器实现的相应流程，为了简洁，在此不再赘述。
在本申请实施例中，“与A相应(对应)的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其它信息确定B。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例中的具体的例子只是为了帮助本领域技术人员更好地理解本申请实施例，而非限制本申请实施例的范围，本领域技术人员可以在上述实施例的基础上进行各种改进和变形，而这些改进或者变形均落在本申请的保护范围内。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (53)

  1. 一种定位的方法，其特征在于，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：
    所述MESH网关接收至少一个蓝牙定位基站发送的定位数据，所述定位数据为所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；
    所述MESH网关通过所述蜂窝移动通信网络，向所述定位服务器发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
  3. 根据权利要求2所述的方法，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  4. 根据权利要求2或3所述的方法，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
  5. 根据权利要求2至4中任一项所述的方法，其特征在于，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
  6. 根据权利要求5所述的方法，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
  7. 根据权利要求6所述的方法，其特征在于，所述MESH网关向所述定位服务器发送的所述定位数据还包括所述局域时间的起始时间对应的世 界标准时间。
  8. 根据权利要求6或7所述的方法，其特征在于，所述方法还包括：
    所述MESH网关确定所述局域时间。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述方法还包括：
    若所述MESH网关通过所述蜂窝移动通信网络，未成功向所述定位服务器发送所述定位数据，所述MESH网关保存所述定位数据；
    所述MESH网关在第一时间内重新向所述定位服务器发送所述定位数据。
  10. 一种定位的方法，其特征在于，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：
    至少一个蓝牙定位基站获取定位指令，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；
    所述至少一个蓝牙定位基站基于所述定位指令，获取所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据；
    所述至少一个蓝牙定位基站向所述MESH网关发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
  11. 根据权利要求10所述的方法，其特征在于，所述目标物体上设置有蓝牙定位器，所述方法还包括：
    所述至少一个蓝牙定位基站接收所述蓝牙定位器发送的定位信号，所述定位数据包括所述至少一个蓝牙定位基站根据所述定位信号确定的定位信号数据。
  12. 根据权利要求11所述的方法，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  13. 根据权利要求11或12所述的方法，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/ 或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
  14. 根据权利要求11至13中任一项所述的方法，其特征在于，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
  15. 根据权利要求14所述的方法，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    所述至少一个蓝牙定位基站进行与所述MESH网关之间的局域时间同步。
  17. 一种定位的方法，其特征在于，所述方法应用于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述方法包括：
    所述定位服务器通过所述蜂窝移动通信网络接收所述MESH网关发送的定位数据，所述定位数据为至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；
    所述定位服务器根据所述定位数据，确定所述目标物体的位置信息。
  18. 根据权利要求17所述的方法，其特征在于，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
  19. 根据权利要求18所述的方法，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  20. 根据权利要求18或19所述的方法，其特征在于，所述定位服务器根据所述定位数据，确定所述目标物体的位置信息，包括：
    所述定位服务器根据所述定位信号数据，确定所述目标物体与所述至少一个蓝牙定位基站之间的相对位置；
    所述定位服务器根据所述相对位置和所述至少一个蓝牙定位基站的位 置信息，确定所述目标物体的位置信息。
  21. 根据权利要求18至20中任一项所述的方法，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    所述方法还包括：
    所述定位服务器存储物体标识和物体之间的对应关系，和/或，所述定位服务器存储蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
  22. 根据权利要求21所述的方法，其特征在于，所述方法还包括：
    所述定位服务器根据所述目标物体的标识，以及根据物体标识和物体之间的对应关系，确定所述目标物体；和/或
    所述定位服务器根据所述至少一个蓝牙定位基站的标识，以及根据所述蓝牙定位基站的标识和蓝牙定位基站之间的对应关系，确定所述至少一个蓝牙定位基站。
  23. 根据权利要求18至22中任一项所述的方法，其特征在于，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
  24. 根据权利要求23所述的方法，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
  25. 根据权利要求24所述的方法，其特征在于，所述定位数据还包括所述局域时间的起始时间对应的世界标准时间；
    所述方法还包括：
    所述定位服务器根据所述时间戳和所述局域时间的起始时间对应的世界标准时间，确定所述目标物体的位置信息对应的世界标准时间戳。
  26. 根据权利要求17至25中任一项所述的方法，其特征在于，所述方法还包括：
    所述定位服务器向电子设备发送所述目标物体的位置信息。
  27. 一种MESH网关，其特征在于，所述MESH网关位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、所述MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述MESH网关包括：
    BLE通信单元，用于接收至少一个蓝牙定位基站发送的定位数据，所述 定位数据为所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；
    蜂窝移动通信单元，用于通过所述蜂窝移动通信网络，向所述定位服务器发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
  28. 根据权利要求27所述的MESH网关，其特征在于，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
  29. 根据权利要求28所述的MESH网关，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  30. 根据权利要求28或29所述的MESH网关，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
  31. 根据权利要求28至30中任一项所述的MESH网关，其特征在于，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
  32. 根据权利要求31所述的MESH网关，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
  33. 根据权利要求32所述的MESH网关，其特征在于，所述蜂窝移动通信单元发送的所述定位数据还包括所述局域时间的起始时间对应的世界标准时间。
  34. 根据权利要求32或33所述的MESH网关，其特征在于，所述MESH网关还包括：
    处理单元，用于确定所述局域时间。
  35. 根据权利要求27至34中任一项所述的MESH网关，其特征在于，所述MESH网关还包括：
    处理单元，用于若通过所述蜂窝移动通信网络，未成功向所述定位服务器发送所述定位数据，保存所述定位数据；
    所述蜂窝移动通信单元还用于：
    在第一时间内重新向所述定位服务器发送所述定位数据。
  36. 一种蓝牙定位基站，其特征在于，所述蓝牙定位基站位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述蓝牙定位基站为所述多个蓝牙定位基站中的至少一个蓝牙定位基站，所述蓝牙定位基站包括：
    处理单元，用于获取定位指令；
    所述处理单元还用于，基于所述定位指令，获取所述至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据；
    BLE通信单元，用于向所述MESH网关发送所述定位数据，所述定位数据用于所述定位服务器确定所述目标物体的位置信息。
  37. 根据权利要求36所述的蓝牙定位基站，其特征在于，所述目标物体上设置有蓝牙定位器，所述通信单元还用于：
    接收所述蓝牙定位器发送的定位信号，所述定位数据包括所述处理单元根据所述定位信号确定的定位信号数据。
  38. 根据权利要求37所述的蓝牙定位基站，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  39. 根据权利要求37或38所述的蓝牙定位基站，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    其中，所述定位服务器中存储有物体标识和物体之间的对应关系，和/或，所述定位服务器中存储有蓝牙定位基站的标识和蓝牙定位基站之间的对应关系。
  40. 根据权利要求37至39中任一项所述的蓝牙定位基站，其特征在于，所述定位数据还包括所述通信单元发送所述定位数据的时间戳。
  41. 根据权利要求40所述的蓝牙定位基站，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于 世界标准时间的数据长度。
  42. 根据权利要求41所述的蓝牙定位基站，其特征在于，所述处理单元还用于：
    进行与所述MESH网关之间的局域时间同步。
  43. 一种定位服务器，其特征在于，所述定位服务器位于低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统中，所述混合无线系统包括多个蓝牙定位基站、MESH网关、所述定位服务器，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信，所述定位服务器包括：
    通信单元，用于通过所述蜂窝移动通信网络接收所述MESH网关发送的定位数据，所述定位数据为至少一个蓝牙定位基站范围内的目标物体相对于所述至少一个蓝牙定位基站的定位数据，所述多个蓝牙定位基站包括所述至少一个蓝牙定位基站；
    处理单元，用于根据所述定位数据，确定所述目标物体的位置信息。
  44. 根据权利要求43所述的定位服务器，其特征在于，所述目标物体上设置有蓝牙定位器，所述定位数据包括所述至少一个蓝牙定位基站根据所述蓝牙定位器发送的定位信号确定的定位信号数据。
  45. 根据权利要求44所述的定位服务器，其特征在于，所述定位信号数据包括所述目标物体与所述至少一个蓝牙定位基站之间的接收信号强度指示RSSI和/或信号接收角度。
  46. 根据权利要求44或45所述的定位服务器，其特征在于，所述处理单元具体用于：
    根据所述定位信号数据，确定所述目标物体与所述至少一个蓝牙定位基站之间的相对位置；
    根据所述相对位置和所述至少一个蓝牙定位基站的位置信息，确定所述目标物体的位置信息。
  47. 根据权利要求44至46中任一项所述的定位服务器，其特征在于，所述定位数据还包括所述目标物体的标识和/或所述至少一个蓝牙定位基站的标识；
    所述处理单元还用于：
    存储物体标识和物体之间的对应关系，和/或，所述定位服务器存储蓝牙 定位基站的标识和蓝牙定位基站之间的对应关系。
  48. 根据权利要求47所述的定位服务器，其特征在于，所述处理单元还用于：
    根据所述目标物体的标识，以及根据物体标识和物体之间的对应关系，确定所述目标物体；和/或
    根据所述至少一个蓝牙定位基站的标识，以及根据所述蓝牙定位基站的标识和蓝牙定位基站之间的对应关系，确定所述至少一个蓝牙定位基站。
  49. 根据权利要求44至48中任一项所述的定位服务器，其特征在于，所述定位数据还包括所述至少一个蓝牙定位基站发送所述定位数据的时间戳。
  50. 根据权利要求49所述的定位服务器，其特征在于，所述时间戳为基于所述MESH网络的局域时间的时间戳，所述局域时间的数据长度小于世界标准时间的数据长度。
  51. 根据权利要求50所述的定位服务器，其特征在于，所述定位数据还包括所述局域时间的起始时间对应的世界标准时间；
    所述处理单元还用于：
    根据所述时间戳和所述局域时间的起始时间对应的世界标准时间，确定所述目标物体的位置信息对应的世界标准时间戳。
  52. 根据权利要求43至51中任一项所述的定位服务器，其特征在于，所述通信单元还用于：
    向电子设备发送所述目标物体的位置信息。
  53. 一种定位系统，其特征在于，所述定位系统为低功耗蓝牙BLE的MESH网络与蜂窝移动通信网络的混合无线系统，所述定位系统包括：
    根据权利要求27至35中任一项所述的MESH网关；
    多个蓝牙定位基站，所述多个蓝牙定位基站包括根据权利要求36至42中任一项所述的至少一个蓝牙定位基站；
    根据权利要求43至52中任一项所述的定位服务器；
    其中，所述多个蓝牙定位基站通过所述MESH网络与所述MESH网关通信，所述MESH网关通过所述蜂窝移动通信网络与所述定位服务器进行通信。
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