Positioning method and device based on Bluetooth signals

Abstract

The invention discloses a positioning method based on a Bluetooth signal. The positioning method comprises the following steps: S1, calculating to obtain an attenuation model of a beacon signal segment based on a beacon position and a distance segment from a beacon; S2, acquiring beacon signal intensity of each beacon received by the to-be-positioned equipment; S3, filtering signal intensity smaller than a first preset threshold value based on the first preset threshold value; S4, determining an optimal point based on the filtered beacon intensity signal and a second preset threshold; S5, determining a positioning point of the to-be-positioned equipment based on the optimal point; S6, repeating the step S2-S5 to obtain at least three initial positioning points of the to-be-positioned equipment; and S7, carrying out advancing angle comparison on the mth positioning point calculated based on the step S1-S5 and the previous three positioning points of the mth positioning point, acquiring an actual positioning point of the mth positioning point based on a preset step, and outputting the actual positioning point as a result. The invention further discloses a positioning device based on the Bluetooth signals. Real-time following is achieved, the target position is automatically adjusted, and accurate positioning is achieved.

Description

technical field [0001] The invention relates to the technical field of wireless signal positioning, in particular to a positioning method and device based on Bluetooth signals. Background technique [0002] At present, there are many kinds of wireless signals for indoor and outdoor positioning, such as ZigBee, UWB (Ultra Wideband, carrierless communication technology), GPS, and Bluetooth signal positioning for low-speed short-distance transmission. Among them, ZigBee and UWB have high installation and deployment costs, and GPS can only achieve outdoor positioning. In contrast, Bluetooth positioning has low installation and deployment costs and low power consumption. [0003] Commonly used Bluetooth positioning algorithms include TOA (positioning based on time of arrival), TDOA (positioning based on time difference of arrival), AOA (positioning based on signal angle of arrival), and RSSI (positioning based on signal strength calculation distance), etc. TOA, TDOA, etc. The al...

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Problems solved by technology

[0003] Commonly used Bluetooth positioning algorithms include TOA (positioning based on time of arrival), TDOA (positioning based on time difference of arrival), AOA (positioning based on signal angle of arrival), and RSSI (positioning based on signal strength calculation distance), etc. TOA, TDOA, etc. The algorithm requires strict clock synchronization, which makes its hardware requirements relatively high, so the cost price is also high; the fingerprint positioning algorithm based on RSSI needs to collect a large amount of data to form a fingerprint database, because of the large amount of data, resulting in a large amount of calculation, the implementation Deployment is difficult, and the Bluetooth signal fluctuates greatly, and the calculation error directly according to the attenuation model is relatively large

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