Fusion positioning method and device based on Bluetooth AOA and UWB

Abstract

The invention relates to the technical field of beacon positioning, and discloses a Bluetooth AOA and UWB-based fusion positioning method and device, and the method is applied to a target door. The target door is provided with a Bluetooth AOA unit and a UWB positioning unit. The method comprises the following steps: obtaining a Bluetooth AOA positioning result and a UWB positioning result corresponding to a target beacon; performing position prediction based on the Bluetooth AOA positioning result and the UWB positioning result to obtain a first prediction positioning result and a second prediction positioning result; and obtaining a fusion positioning result according to the first prediction positioning result and the second prediction positioning result. According to the invention, the positioning efficiency and the positioning precision in an intelligent door scene can be improved.

Description

Technical Field

[0001] The present invention relates to the field of beacon positioning technology, and in particular to a fusion positioning method and device based on Bluetooth AOA and UWB. Background Art

[0002] With the rapid development of smart home technology, the automatic opening and closing of smart doors can detect the target beacon, that is, the user's position, by integrating advanced positioning systems and sensor technologies, so that the door can be automatically opened and closed when the user approaches or moves away from the door. Positioning technology provides spatial location information of the located target for various application scenarios. Bluetooth AOA positioning technology and UWB positioning technology are two important technologies in the current positioning technology field. Bluetooth AOA positioning technology determines the location of the transmitting source by measuring the difference in angles at which the signal reaches different receiving antennas. It has the advantages of low equipment cost and relatively low power consumption, and is suitable for basic positioning scenarios. UWB positioning is that the UWB signal uses nanosecond non-sinusoidal narrow pulses to transmit data, which can achieve high-precision positioning and tracking in complex environments, and is suitable for scenarios that require high-precision positioning.

[0003] Bluetooth AOA and UWB positioning technologies each have some defects in practical applications. Bluetooth AOA positioning technology has low positioning accuracy in complex environments, while UWB positioning technology has high accuracy, but the equipment cost is relatively high, and it may not work properly in certain scenarios (such as behind obstacles with poor signal penetration). Summary of the invention

[0004] In view of this, the present invention provides a fusion positioning method and device based on Bluetooth AOA and UWB to improve the positioning efficiency and positioning accuracy in the smart door scenario.

[0005] In a first aspect, the present invention provides a fusion positioning method based on Bluetooth AOA and UWB, and the method is applied to a target door; a Bluetooth AOA unit and a UWB positioning unit are provided on the target door, and the method comprises: obtaining a Bluetooth AOA positioning result and a UWB positioning result corresponding to a target beacon; performing position prediction based on the Bluetooth AOA positioning result and the UWB positioning result respectively to obtain a first predicted positioning result and a second predicted positioning result; obtaining a fusion positioning result according to the first predicted positioning result and the second predicted positioning result.

[0006] In an optional embodiment, obtaining the Bluetooth AOA positioning result and UWB positioning result corresponding to the target beacon includes: receiving the radio frequency signal sent by the target beacon; when the radio frequency signal sent by the target beacon includes a Bluetooth radio frequency signal and a UWB radio frequency signal, obtaining the Bluetooth AOA positioning result corresponding to the target beacon according to the Bluetooth radio frequency signal; and obtaining the UWB positioning result according to the UWB radio frequency signal.

[0007] In an optional embodiment, the Bluetooth AOA unit includes at least two Bluetooth antennas; obtaining the Bluetooth AOA positioning result corresponding to the target beacon according to the Bluetooth AOA positioning signal, including: obtaining the Bluetooth radio frequency signal emitted by the target beacon; and calculating the first Bluetooth AOA positioning result based on the arrival angle of the Bluetooth radio frequency signal and the phase difference between the target beacon and at least two Bluetooth antennas.

[0008] In an optional implementation, the UWB positioning unit includes at least two UWB antennas; obtaining the UWB positioning result according to the UWB radio frequency signal includes: obtaining the distance between the target beacon and the at least two UWB antennas; and calculating a first UWB positioning result based on the distance.

[0009] In an optional embodiment, the method also includes: when the radio frequency signal sent by the target beacon is a Bluetooth radio frequency signal, obtaining a Bluetooth AOA positioning result corresponding to the target beacon; performing position prediction based on the Bluetooth AOA positioning result to obtain a first predicted positioning result corresponding to the target beacon.

[0010] In an optional embodiment, the method further includes: when the RF signal sent by the target beacon is a UWB RF signal, obtaining a UWB positioning result corresponding to the target beacon; performing position prediction based on the UWB positioning result to obtain a second predicted positioning result corresponding to the target beacon.

[0011] In a second aspect, the present invention provides a fusion positioning device based on Bluetooth AOA and UWB, the device comprising: a result acquisition module, used to obtain the Bluetooth AOA positioning result and the UWB positioning result corresponding to the target beacon; a positioning prediction module, used to perform position prediction based on the Bluetooth AOA positioning result and the UWB positioning result, respectively, to obtain a first predicted positioning result and a second predicted positioning result; a fusion positioning module, used to obtain a fusion positioning result based on the first predicted positioning result and the second predicted positioning result.

[0012] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes a fusion positioning method based on Bluetooth AOA and UWB according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute a fusion positioning method based on Bluetooth AOA and UWB according to the above-mentioned first aspect or any corresponding embodiment thereof.

[0014] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to enable a computer to execute a fusion positioning method based on Bluetooth AOA and UWB according to the above-mentioned first aspect or any corresponding embodiment.

[0015] The technical solution provided by this application may have the following beneficial effects:

[0016] The present application provides a fusion positioning method based on Bluetooth AOA and UWB, which is mainly used for the main door to provide positioning data for the automatic switch function. The positioning information of the beacon is obtained by using Bluetooth AOA and UWB technology respectively, providing a data basis for subsequent fusion processing. The position prediction of the Bluetooth AOA and UWB positioning results is performed using an algorithm including Kalman filtering, which can predict the position change of the beacon in advance and provide a more timely and accurate positioning basis. The predicted positioning results of Bluetooth AOA and UWB are fused to obtain a fused positioning result. The above scheme, through the fusion positioning method of Bluetooth AOA and UWB, ensures that the smart door can accurately judge the position and movement trend of the target beacon, and improves the positioning efficiency and positioning accuracy in the smart door scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a flowchart of a fusion positioning method based on Bluetooth AOA and UWB according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a Bluetooth AOA positioning method according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a UWB positioning method according to an embodiment of the present invention;

[0021] Figure 4 is a structural block diagram of a fusion positioning device based on Bluetooth AOA and UWB according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] According to an embodiment of the present invention, an embodiment of a fusion positioning method based on Bluetooth AOA and UWB is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] In this embodiment, a fusion positioning method based on Bluetooth AOA and UWB is provided, and the method is applied to a target door; a Bluetooth AOA unit and a UWB positioning unit are provided on the target door. Figure 1 is a flow chart of a fusion positioning method based on Bluetooth AOA and UWB according to an embodiment of the present invention, such as Figure 1 As shown, the process includes the following steps:

[0026] Step S101, obtaining the Bluetooth AOA positioning result and UWB positioning result corresponding to the target beacon.

[0027] First, the location information of the target beacon is obtained through the Bluetooth AOA unit and the UWB positioning unit respectively. Among them, the target beacon refers to the smart key or other device with radio frequency capability carried by the user. The target beacon transmits specific signals (such as Bluetooth signals or UWB signals) so that the smart door system can detect and locate their positions. Obtaining two positioning results of the target beacon provides a data basis for subsequent position prediction and fusion positioning.

[0028] Step S102: performing position prediction based on the Bluetooth AOA positioning result and the UWB positioning result to obtain a first predicted positioning result and a second predicted positioning result.

[0029] After obtaining the positioning results of Bluetooth AOA and UWB, use the position prediction algorithm (such as Kalman filter) to predict these results. Kalman filter is an efficient recursive filter that can estimate the position of the target beacon based on historical data and current observations. By predicting the positioning results of Bluetooth AOA and UWB respectively, the first predicted positioning result and the second predicted positioning result are obtained. The prediction algorithm based on historical data can determine the possible location of the beacon in advance, which helps to make a faster and more accurate response.

[0030] Step S103, obtaining a fused positioning result according to the first predicted positioning result and the second predicted positioning result.

[0031] After obtaining the first predicted positioning result and the second predicted positioning result, a fusion algorithm is used to combine the two results to obtain a fused positioning result. Optionally, the fusion algorithm considers factors such as the weight, accuracy, and credibility of the two positioning results to obtain a fused positioning result. Fusion algorithms include weighted average method, Bayesian estimation method, Kalman filtering method, etc. By fusing the positioning results of Bluetooth AOA and UWB, a more accurate positioning result can be obtained than a single technology.

[0032] This embodiment provides a fusion positioning method based on Bluetooth AOA and UWB. Through the fusion positioning method of Bluetooth AOA and UWB, it ensures that the smart door can accurately determine the position and movement trend of the target beacon, thereby improving the positioning efficiency and positioning accuracy in the smart door scenario.

[0033] In an optional implementation, the above step S101 includes the following process:

[0034] Step S1011, receiving a radio frequency signal sent by a target beacon.

[0035] The target beacon sends a radio frequency signal containing its location information. Radio frequency signals include Bluetooth radio frequency signals and UWB radio frequency signals. Bluetooth radio frequency signals are a widely used short-range wireless communication technology. Its signal frequency band and transmission characteristics make it suitable for indoor positioning and other scenarios. UWB radio frequency signals, with their high bandwidth, low power consumption and short latency, can provide higher positioning accuracy.

[0036] Step S1012: when the RF signal sent by the target beacon includes a Bluetooth RF signal and a UWB RF signal, a Bluetooth AOA positioning result corresponding to the target beacon is obtained according to the Bluetooth RF signal; and a UWB positioning result is obtained according to the UWB RF signal.

[0037] When receiving a radio frequency signal, it is necessary to accurately identify the Bluetooth radio frequency signal and the UWB radio frequency signal. Optionally, signal processing techniques such as digital signal processing (DSP) and machine learning algorithms are applied to identify and extract different types of radio frequency signals.

[0038] The Bluetooth AOA positioning result corresponding to the target beacon is obtained according to the Bluetooth radio frequency signal, that is, the position of the target beacon is calculated using the Bluetooth AOA positioning technology. The Bluetooth AOA (angle of arrival) positioning technology uses the angle information when the Bluetooth signal reaches the receiving antenna to determine the position of the target beacon.

[0039] Similarly, the UWB positioning result is obtained based on the UWB radio frequency signal, that is, the position of the target beacon is calculated using the UWB positioning technology. UWB positioning technology is an ultra-wideband technology that transmits data by sending nanosecond non-sinusoidal narrow pulses and uses the arrival time difference of these pulses to accurately calculate the position of the target beacon. It has high accuracy and strong anti-interference ability.

[0040] This implementation method receives the radio frequency signal sent by the target beacon and obtains Bluetooth AOA and UWB positioning results respectively, providing a data basis for subsequent fusion positioning.

[0041] In an optional implementation, the Bluetooth AOA unit includes at least two Bluetooth antennas; the obtaining of the Bluetooth AOA positioning result corresponding to the target beacon according to the Bluetooth AOA positioning signal in the above step S1012 includes the following process:

[0042] Step a11, obtaining the Bluetooth radio frequency signal emitted by the target beacon.

[0043] The Bluetooth radio frequency signal emitted by the target beacon is received by the Bluetooth antenna and transmitted to the CPU processing unit of the positioning system.

[0044] Step a12: Calculate and obtain a first Bluetooth AOA positioning result based on the arrival angle of the Bluetooth radio frequency signal and the phase difference between the target beacon and at least two Bluetooth antennas.

[0045] After obtaining the Bluetooth RF signal, the Bluetooth AOA positioning technology is used to calculate the location of the target beacon. At least two Bluetooth antennas will receive the Bluetooth RF signal from the target beacon and measure the angle and phase difference of the signal reaching each antenna.

[0046] Among them, the angle of arrival (AOA) measurement is usually achieved by comparing the phase difference of the signal arriving at different antennas. Phase difference is a key parameter for calculating the angle of arrival, which characterizes the phase delay caused by the path difference during the transmission of the signal. In order to improve the accuracy and reliability of positioning, the Bluetooth AOA unit includes at least two Bluetooth antennas.

[0047] Specifically, Figure 2 As shown, the positions of Bluetooth antenna A and Bluetooth antenna B are (X1, Y1) and (X1, Y1) respectively, and the distance between them is d, so as to accurately locate the beacon in the dotted area.

[0048] The Bluetooth AOA algorithm uses two points to confirm a straight line. The formula is as follows:

[0049] Assume the position of beacon C obtained by Bluetooth AOA positioning is (X, Y),

[0050] Y-Y1=K1(X-X1)

[0051] Y-Y2=K2(X-X2)X1

[0052] in:

[0053] α==arcsin(λΔΦ / 2πd), the signal phase difference between the two antennas is ΔΦ, λ is the wavelength of the signal;

[0054] K1 = tanα1, K2 = tanα2;

[0055] The calculations show that:

[0056]

[0057]

[0058] The change in the Y value can be used to determine whether the beacon is approaching or moving away from the door.

[0059] In this embodiment, the Bluetooth radio frequency signal emitted by the target beacon is received, and the parameters such as the arrival angle and the phase difference are used for calculation to obtain the first Bluetooth AOA positioning result.

[0060] In an optional implementation, the UWB positioning unit includes at least two UWB antennas; the above step S1012 of obtaining the UWB positioning result according to the UWB radio frequency signal includes the following process:

[0061] Step b11, obtaining the distance between the target beacon and at least two UWB antennas.

[0062] The UWB radio frequency signal emitted by the target beacon is received by the UWB antenna and transmitted to the CPU processing unit of the positioning system. By measuring and calculating the time when the pulse of the UWB radio frequency signal reaches the UWB antenna, the distance between the target beacon (such as a smart key) and at least two UWB antennas is obtained.

[0063] Step b12: Calculate and obtain a first UWB positioning result based on the distance.

[0064] After obtaining the distance between the target beacon and at least two UWB antennas, the distance is used to calculate the position of the target beacon to obtain a first UWB positioning result.

[0065] Optionally, the distance is calculated by applying a geometric algorithm, such as triangulation or multilateration. Specifically, the triangulation algorithm measures the distance between the target beacon and three antennas and uses this distance information to determine the two-dimensional or three-dimensional position of the target beacon. The multilateration algorithm uses more antennas and distance measurements to improve the accuracy and reliability of positioning.

[0066] Specifically, Figure 3As shown, UWB is positioned in two dimensions, with at least two anchor points C1(0,0) and C2(U,0), the line connecting C1 and C2 is the baseline, a label (point of interest) P position (x,y), and the ambiguous point of P position (x,-y), as shown in the following figure:

[0067] In the present invention, the anchor point is the UWB antenna, the tag is the beacon, C1 is used as an anchor point, C2 is used as an anchor point, and P is used as a tag. We need to find the x and y values ​​of P. The radius of C1 is r1, and the radius of C2 is r2. The radius is the distance between the UWB antenna and the beacon.

[0068] The following formula is obtained:

[0069]

[0070]

[0071] The coordinates of P are as follows:

[0072]

[0073]

[0074] In an optional embodiment, the method further includes:

[0075] Step S201: when the radio frequency signal sent by the target beacon is a Bluetooth radio frequency signal, a Bluetooth AOA positioning result corresponding to the target beacon is obtained.

[0076] Detect the type of RF signal sent by the target beacon. If a Bluetooth RF signal is detected, obtain the Bluetooth AOA positioning result corresponding to the target beacon. Specifically, first detect whether there is an RF signal entering the antenna receiving range. If an RF signal is detected, determine whether the signal is a Bluetooth RF signal by analyzing the signal's frequency and other characteristics.

[0077] Step S202: perform position prediction based on the Bluetooth AOA positioning result to obtain a first predicted positioning result corresponding to the target beacon.

[0078] After obtaining the Bluetooth AOA positioning results, position prediction is performed based on the Bluetooth AOA positioning results. Position prediction uses historical position values ​​and current observation values, combined with prediction algorithms (such as Kalman filtering, particle filtering, etc.) to estimate the position of the target beacon in the future, thereby improving the real-time and accuracy of positioning.

[0079] In an optional embodiment, the method further includes:

[0080] Step S301: when the radio frequency signal sent by the target beacon is a UWB radio frequency signal, a UWB positioning result corresponding to the target beacon is obtained.

[0081] If a UWB radio frequency signal is detected, the UWB positioning result corresponding to the target beacon is obtained. Specifically, firstly, it is detected whether there is a radio frequency signal entering the antenna receiving range. If a radio frequency signal is detected, it is determined whether the signal is a UWB radio frequency signal by analyzing the frequency and other characteristics of the signal.

[0082] Step S302: Perform position prediction based on the UWB positioning result to obtain a second predicted positioning result corresponding to the target beacon.

[0083] After obtaining the UWB positioning result, the position prediction is performed based on the UWB positioning result. Similar to step S202, the target position within a certain period of time in the future is estimated by using historical positioning data, motion trajectory, speed and other information in combination with a corresponding prediction algorithm.

[0084] Specifically, in the embodiment of the present invention, the position of the beacon is regarded as the state of the system, and these states are predicted and updated through Kalman filtering. Kalman filtering is performed on the positions obtained by Bluetooth AOA and UWB respectively, and the average of the two is taken as the fused coordinate value.

[0085] The basic formula of Kalman filtering includes a prediction step and an update step:

[0086] Prediction Step

[0087] hatx k∣k-1 =Ahatx k-1∣k-1 +Bu k-1

[0088] P k∣k-1 =AP k-1∣k-1 A T +Q

[0089] in:

[0090] x^ k∣k-1 It is the result based on the previous state prediction (prior estimate).

[0091] A is the state transition matrix, which describes how the system state changes over time.

[0092] x^ k-1∣k-1 is the best estimate of the previous state.

[0093] B is the control input matrix, u k-1 is the control input (may not be applicable in position prediction since there is usually no external control input).

[0094] P k∣k-1is the forecast error covariance matrix, which represents the uncertainty of the forecast.

[0095] P k-1∣k-1 is the optimal estimate error covariance matrix of the previous state.

[0096] Q is the process noise covariance matrix, which represents the uncertainty of the system dynamics.

[0097] Update steps

[0098] K k =P k∣k-1 H T (HP k∣k-1 H T +R) -1

[0099] hatx k∣k =hatx k∣k-1 +K k (z k -Hhatx k∣k-1 )

[0100] P k∣k =(IK k H)P k∣k-1

[0101] in:

[0102] K k is the Kalman gain, which is used to balance the weights between predictions and measurements.

[0103] H is the measurement matrix, which maps the true state space to the observation space.

[0104] z k is the observed value of the current state (i.e. the current measured position).

[0105] R is the observation noise covariance matrix, which represents the uncertainty of the measurement.

[0106] x^ k∣k is the optimal estimate (a posteriori estimate) of the current state.

[0107] P k∣k is the updated error covariance matrix, which represents the uncertainty of the current state estimate.

[0108] In the embodiment of the present invention, the RF signal that the target beacon can send is a Bluetooth RF signal or a Bluetooth RF signal + a UWB RF signal. If only the Bluetooth RF signal is detected, the first predicted positioning result is the final positioning result; if both the Bluetooth and UWB RF signals are detected, the further fused positioning result is used as the final positioning result to improve the accuracy and reliability of positioning.

[0109] In this embodiment, a fusion positioning device based on Bluetooth AOA and UWB is also provided, which is used to implement the above embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0110] This embodiment provides a fusion positioning device based on Bluetooth AOA and UWB, such as Figure 4 As shown, including:

[0111] The result acquisition module 401 is used to obtain the Bluetooth AOA positioning result and the UWB positioning result corresponding to the target beacon;

[0112] A positioning prediction module 402 is used to perform position prediction based on the Bluetooth AOA positioning result and the UWB positioning result to obtain a first predicted positioning result and a second predicted positioning result;

[0113] The fusion positioning module 403 is used to obtain a fusion positioning result according to the first predicted positioning result and the second predicted positioning result.

[0114] In an optional implementation, the result acquisition module 401 includes:

[0115] The first result acquisition unit is used to receive the radio frequency signal sent by the target beacon.

[0116] The second result acquisition unit is used to acquire the Bluetooth AOA positioning result corresponding to the target beacon according to the Bluetooth radio frequency signal when the radio frequency signal sent by the target beacon includes a Bluetooth radio frequency signal and a UWB radio frequency signal; and acquire the UWB positioning result according to the UWB radio frequency signal.

[0117] In an optional implementation, the positioning prediction module 402 includes:

[0118] A first Bluetooth positioning unit, used to obtain a Bluetooth radio frequency signal emitted by a target beacon;

[0119] The second Bluetooth positioning unit is used to calculate and obtain a first Bluetooth AOA positioning result based on the arrival angle of the Bluetooth radio frequency signal and the phase difference between the target beacon and at least two Bluetooth antennas.

[0120] In an optional implementation, the positioning prediction module 402 further includes:

[0121] A first UWB positioning unit, used to obtain the distance between the target beacon and at least two UWB antennas;

[0122] The second UWB positioning unit is used to calculate and obtain a first UWB positioning result based on the distance.

[0123] In an optional embodiment, the device further comprises:

[0124] A first Bluetooth prediction unit, configured to obtain a Bluetooth AOA positioning result corresponding to the target beacon when the radio frequency signal sent by the target beacon is a Bluetooth radio frequency signal;

[0125] The second Bluetooth prediction unit is used to perform position prediction based on the Bluetooth AOA positioning result to obtain a first predicted positioning result corresponding to the target beacon.

[0126] In an optional embodiment, the device further comprises:

[0127] A first UWB prediction unit, configured to obtain a UWB positioning result corresponding to the target beacon when the radio frequency signal sent by the target beacon is a UWB radio frequency signal;

[0128] The first UWB prediction unit is used to perform position prediction based on the UWB positioning result to obtain a second predicted positioning result corresponding to the target beacon.

[0129] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0130] In this embodiment, a fusion positioning device based on Bluetooth AOA and UWB is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0131] The embodiment of the present invention also provides a computer device having the above Figure 4 A fusion positioning device based on Bluetooth AOA and UWB is shown.

[0132] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0133] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0134] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0135] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0137] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0138] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0139] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0140] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0141] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A fusion positioning method based on Bluetooth AOA and UWB, characterized in that: The method is applied to a target door; the target door is provided with a Bluetooth AOA unit and a UWB positioning unit, and the method comprises: Get the Bluetooth AOA positioning result and UWB positioning result corresponding to the target beacon; Performing position prediction based on the Bluetooth AOA positioning result and the UWB positioning result respectively to obtain a first predicted positioning result and a second predicted positioning result; A fused positioning result is obtained according to the first predicted positioning result and the second predicted positioning result.

2. The method according to claim 1, characterized in that: The obtaining of the Bluetooth AOA positioning result and the UWB positioning result corresponding to the target beacon includes: receiving a radio frequency signal sent by a target beacon; When the RF signal sent by the target beacon includes a Bluetooth RF signal and a UWB RF signal, the Bluetooth AOA positioning result corresponding to the target beacon is obtained according to the Bluetooth RF signal; and the UWB positioning result is obtained according to the UWB RF signal.

3. The method according to claim 2, characterized in that The Bluetooth AOA unit includes at least two Bluetooth antennas; Acquiring a Bluetooth AOA positioning result corresponding to the target beacon according to the Bluetooth AOA positioning signal, including: Obtaining a Bluetooth radio frequency signal emitted by the target beacon; The first Bluetooth AOA positioning result is calculated based on the arrival angle of the Bluetooth radio frequency signal and the phase difference between the target beacon and at least two Bluetooth antennas.

4. The method according to claim 2, characterized in that: The UWB positioning unit includes at least two UWB antennas; The obtaining the UWB positioning result according to the UWB radio frequency signal comprises: Obtaining the distance between the target beacon and at least two UWB antennas; Based on the distance, the first UWB positioning result is calculated.

5. The method according to claim 2, characterized in that: The method further comprises: When the radio frequency signal sent by the target beacon is a Bluetooth radio frequency signal, obtaining a Bluetooth AOA positioning result corresponding to the target beacon; A position prediction is performed based on the Bluetooth AOA positioning result to obtain a first predicted positioning result corresponding to the target beacon.

6. The method according to claim 2, characterized in that The method further comprises: When the radio frequency signal sent by the target beacon is a UWB radio frequency signal, obtaining a UWB positioning result corresponding to the target beacon; A position prediction is performed based on the UWB positioning result to obtain a second predicted positioning result corresponding to the target beacon.

7. A fusion positioning device based on Bluetooth AOA and UWB, characterized in that: The device comprises: The result acquisition module is used to obtain the Bluetooth AOA positioning result and UWB positioning result corresponding to the target beacon; A positioning prediction module, used to perform position prediction based on the Bluetooth AOA positioning result and the UWB positioning result, respectively, to obtain a first predicted positioning result and a second predicted positioning result; The fusion positioning module is used to obtain a fusion positioning result based on the first predicted positioning result and the second predicted positioning result.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 6.

Images