An effective position tracking system in exhibition environments

Abstract

The present invention provides an effective position tracking system in an exhibition environment, which realizes indoor positioning of a target node through cooperative positioning of an anchor node and a virtual anchor node. The system comprises: one or more anchor nodes, wherein the anchor node is configured to send a Bluetooth signal; one or more virtual anchor nodes, wherein the virtual anchor node is configured to send a Bluetooth signal to a target node; and a target node, wherein the target node is configured to receive Bluetooth signals from the anchor node and from the virtual anchor node, and determine the indoor position of the target node according to the received Bluetooth signals from the anchor node and from the virtual anchor node.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Application No. 62 / 912,674, filed on October 9, 2019, and entitled “An Effective Location Tracking System in Exhibition Environment,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention generally relates to a position tracking system and in particular to a position tracking system and method thereof suitable for indoor spaces such as exhibition environments. Background Art

[0004] In location tracking used in indoor spaces such as exhibition environments, technologies known to the applicant include using BLE, Wi-Fi or magnetic fields and positioning algorithms to determine the location of target nodes in indoor environments. However, due to the different limitations of certain technologies and the effectiveness of the algorithms adopted, the performance of these technologies in terms of positioning accuracy and user experience is not ideal. In addition, Wi-Fi technology is not user-friendly because the user needs to connect his or her device (such as a smartphone) to the Wi-Fi network before using the location tracking service. In addition, Wi-Fi technology also has the potential risk of connecting the smartphone to a fake Wi-Fi network, thereby exposing the smartphone to network security risks. Summary of the invention

[0005] In view of the above problems in the prior art, the present invention is proposed to solve all or at least one of the above problems.

[0006] According to one aspect of the present invention, there is provided an indoor location tracking system based on Bluetooth communication, which realizes indoor positioning of a target node through cooperative positioning of an anchor node and a virtual anchor node, the system comprising: one or more anchor nodes, the anchor nodes being configured to send Bluetooth signals;

[0007] One or more virtual anchor nodes, wherein the virtual anchor nodes are configured to send Bluetooth signals to a target node; and a target node, wherein the target node is configured to receive Bluetooth signals from the anchor node and from the virtual anchor node, and determine a location of the target node indoors based on the received Bluetooth signals from the anchor node and from the virtual anchor node.

[0008] According to another aspect of the present invention, there is provided a mobile device, which acts as a target node and realizes its own indoor positioning through cooperative positioning based on anchor nodes and virtual anchor nodes. The mobile device comprises: a processor; and a memory, in which executable instructions are stored, and the processor executes the executable instructions to perform the following operations: performing multiple readings within a predetermined time to discover indoor anchor nodes and virtual anchor nodes, and calculating the position of the target node according to the positions of the discovered anchor nodes and virtual anchor nodes; obtaining corresponding signal strength indications (RSSIs) from the anchor nodes and virtual anchor nodes, and determining the RSSI difference based on the obtained RSSI and the RSSI corresponding to the calculated target node position; and calculating the position of the target node based on the determined RSSI difference.

[0009] According to another aspect of the present invention, there is provided a mobile device, comprising: a processor; and

[0010] A memory storing executable instructions, wherein the processor executes the executable instructions to perform the following operations: sending a Bluetooth signal to a target node in the indoor space so that the target node can determine its own position indoors, wherein the mobile device acts as a virtual anchor node to send a Bluetooth signal to the target node so that the target node can be positioned indoors based on the cooperative positioning of the anchor node and the virtual anchor node according to the Bluetooth signals sent by the anchor node and the virtual anchor node to determine the position of the target node.

[0011] According to another aspect of the present invention, there is provided a method for realizing indoor positioning of a target node based on cooperative positioning of an anchor node and a virtual anchor node, comprising: one or more anchor nodes sending a Bluetooth signal; one or more virtual anchor nodes sending a Bluetooth signal to a target node; and the target node receiving a Bluetooth signal from the anchor node and the virtual anchor node, and determining the indoor position of the target node based on the received Bluetooth signal from the anchor node and the received Bluetooth signal from the virtual anchor node.

[0012] According to another aspect of the present invention, there is provided a method for indoor positioning of a target node, wherein the target node realizes its own indoor positioning by cooperative positioning based on an anchor node and a virtual anchor node, the method comprising: the target node performs multiple readings within a predetermined time to discover an anchor node and a virtual anchor node, and calculates the position of the target node according to the positions of the discovered anchor node and the virtual anchor node; obtains corresponding signal strength indication (RSSI) from the anchor node and the virtual anchor node, determines an RSSI difference based on the obtained RSSI and the RSSI corresponding to the calculated target node position; and calculates the position of the target node based on the determined RSSI difference.

[0013] The position tracking system according to the present invention can provide an indoor positioning system (IPS) solution with unique functions and cost-effectiveness to event organizers (such as exhibition organizers) and visitors (such as exhibition visitors). BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application, and are not limitations to those skilled in the art or ordinary technicians.

[0015] Figure 1 An example of a usage environment of the position tracking system according to an embodiment of the present invention is illustrated.

[0016] Figure 2 A comparative diagram illustrating the positioning accuracy and user interface of location tracking technologies in the art known to the applicant.

[0017] Figure 3 The schematic diagram illustrating the comparison between the effects of using low-power Bluetooth technology and using Wi-Fi in a location-based system according to an embodiment of the present invention is illustrated.

[0018] Figure 4 A schematic diagram illustrating information interaction between nodes in a location tracking system according to an embodiment of the present invention is shown.

[0019] Figure 5 A module diagram of a position tracking system according to the present invention is illustrated.

[0020] Figure 6 The hardware structure of the target node according to the embodiment of the present invention is illustrated.

[0021] Figure 7 The flowchart of the method for tracking the location of a target node according to an embodiment of the present invention is illustrated.

[0022] Figure 8 A flow chart of a method for tracking the position of a virtual anchor node according to an embodiment of the present invention is illustrated. DETAILED DESCRIPTION

[0023] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the following embodiments are not intended to limit the present invention, and that all combinations of the various aspects described in the following embodiments are not necessarily required with respect to the means for solving the problems according to the present invention. For the sake of simplicity, the same marks or numbers are used for the same structural parts or steps, and their descriptions are omitted.

[0024] [Working environment of the location tracking system]

[0025] Figure 1 An example of an operating environment of the position tracking system of the present invention is shown.

[0026] There are currently technical deficiencies in performing location tracking in indoor spaces. The following uses an indoor space such as an exhibition venue as an example for illustration.

[0027] Figure 1 The exhibition venue shown includes multiple booths. The booths include standard booths and non-standard booths. For standard booths in the exhibition, the standard construction and design are defined according to the size and height of the booth, so the setting of Bluetooth beacons (or low-power Bluetooth, BLE) is relatively quick and easy. For non-standard booths in the exhibition, exhibitors will build the booths (the architecture of the booth) in their own style. Usually, the design of the non-standard booths can only be seen by the exhibition organizers on the last day during the exhibition setup period (that is, the day before the exhibition starts). Therefore, the time to determine the location for installing BLE beacons in non-standard booths is very tight. In addition, in some non-standard booths, there are no walls and the booth structure is too high, which makes it impossible for the exhibition organizers to install beacons in the booth, which will greatly affect the location tracking function in this area.

[0028] like Figure 2 As shown, the indoor positioning technologies known to the applicant have defects such as large positioning error, floating user positioning, long positioning time and poor user experience.

[0029] To this end, in the present invention, the signal coverage problem is solved by a collaborative positioning algorithm using the RSSI of the BLE signals from the mobile node (user's mobile phone) and the virtual anchor node (exhibitor's mobile phone).

[0030] In the present invention, an effective and efficient indoor positioning system is realized by using Bluetooth. Figure 3 As shown, compared with Wi-Fi, applying Bluetooth to the present invention will achieve advantages such as low cost, large operating range, more convenient construction and better user experience.

[0031] [Structure of position tracking system]

[0032] The following will be combined Figure 4 and Figure 5 To illustrate the position tracking system in the present invention.

[0033] Figure 4 and Figure 5 The location tracking system shown in FIG. 1 includes a plurality of anchor nodes 1000 , a plurality of virtual anchor nodes 2000 , and a target node 3000 .

[0034] The anchor node 1000 (or referred to as a real anchor node to distinguish it from a virtual anchor node) may be a device that transmits a Bluetooth signal, such as a Bluetooth beacon. Other examples of devices that transmit Bluetooth signals include: a Bluetooth gateway, a Bluetooth electronic tag, and the like.

[0035] The virtual anchor node 2000 may be a mobile terminal. Taking the indoor environment as an exhibition as an example, the virtual anchor node may be a mobile device provided by the exhibition organizer (or by the exhibitor). The mobile device may be, for example, a mobile terminal, a personal PC, a tablet computer, or other smart devices with a processor and a network interface.

[0036] The mobile device can communicate with the target node 3000 via Bluetooth, or near field communication methods such as WiFi and NFC, and can also communicate with the target node 3000 using communication methods such as NB-IOT, GPRS, LoRa, etc.

[0037] The target node 3000 may be, for example, a mobile device provided by a user (e.g., a visitor). The mobile device may be, for example, a mobile terminal, a personal PC, a tablet computer, or other intelligent devices with a processor and a network interface. The mobile device may communicate with the virtual anchor node 2000 via Bluetooth, or near field communication such as wifi or NFC. Optionally, it may also communicate with the virtual anchor node 2000 via NB-IOT, GPRS, LoRa, or other communication methods.

[0038] In the position tracking system, the anchor node 1000 can send a Bluetooth signal, the virtual anchor node 2000 can receive the Bluetooth signal from the anchor node 1000, and can also send a Bluetooth signal to the target node 3000. The target node 3000 can receive signals from the anchor node 1000 and the virtual anchor node 2000, and determine the indoor position of the target node according to the received signals for positioning.

[0039] Attached Figure 5 The module structure diagram in the location tracking system is shown as an example. The location tracking system such as the Bluetooth indoor positioning system includes an anchor node 1000 , a virtual anchor node 2000 and a target node 3000 .

[0040] The anchor node 1000 includes a sending unit 110 for sending a Bluetooth signal to an indoor space. The virtual anchor node 2000 includes a sending unit 210 for sending a Bluetooth signal to an indoor space; and a receiving unit capable of receiving a Bluetooth signal from the anchor node 1000.

[0041] The target anchor node 3000 includes: a reading module 310, which performs multiple readings within a predetermined time to discover anchor nodes and virtual anchor nodes, and calculates the position of the target node based on the positions of the discovered anchor nodes and virtual anchor nodes; a determination module 320, which obtains corresponding signal strength indications (RSSIs) from the anchor nodes and virtual anchor nodes, and determines the RSSI difference based on the obtained RSSI and the RSSI corresponding to the calculated target node position; and a calculation module 330, which calculates the position of the target node based on the determined RSSI difference.

[0042] The calculation module 330 includes: a removal submodule 3310 for removing untrusted nodes from the discovered anchor nodes and virtual anchor nodes based on the determined RSSI difference; and a determination submodule 3320 for determining the location of the target node based on the trusted anchor nodes and the virtual location.

[0043] The processing performed by the above modules will be described in detail later.

[0044] The location tracking system according to the present invention can accurately locate nodes in indoor spaces. For example, when the indoor space is an exhibition, visitors are in the exhibition, and it is difficult to locate the location of visitors through conventional technology. However, the location tracking system of the present invention can accurately locate visitors. The system includes multiple Bluetooth beacons set in the exhibition as anchor nodes. Figure 1 As shown in FIG. 1 , 550 units of Bluetooth beacons are set up in the exhibition hall. The system also includes multiple mobile devices provided by the exhibition organizer (or exhibitors or others) as virtual anchor nodes. Figure 4 As shown, each booth includes multiple mobile terminals as virtual anchor nodes, which can be placed in a fixed position in the booth. In some cases, they can also be carried by the organizer of the exhibition (or by the exhibitors) and placed in a non-fixed position. When the visitor is in the exhibition, the mobile terminal he carries can be used as a target node for positioning to determine the location of the visitor in the exhibition. Therefore, the position tracking system of the present invention can flexibly set virtual nodes to locate the target nodes in the venue, and its positioning accuracy is high, and the user experience is better for users.

[0045] [Structure and function of target node]

[0046] In this embodiment, the target node is a node to be located, and the following description is given by taking a mobile terminal as an example of the target node. Although a mobile terminal (including but not limited to a smart phone, a smart watch, a smart bracelet, a music player) is cited as the target node 3000 in this embodiment, it is obviously not limited to this. The target node of the present invention can be a laptop, a tablet computer, a PDA (personal digital assistant), a personal computer, or an Internet device with a touch screen and information processing function (such as a digital camera, etc.) and other devices.

[0047] like Figure 5 As shown, the target node 3000 includes a plurality of the following components connected to each other via a system bus: an input interface 102, a CPU 103, a ROM 104, a RAM 105, an external memory 106, an output interface 107, a display 108, a communication module 109, and a short-range wireless communication module 110. The input interface 102 is an interface for receiving data and operation instructions input by a customer, and is an interface for receiving data and operation instructions input by the customer via an operation unit (not shown) such as a key, a button, or a touch screen. Note that the display 108 and the module for operation described later may be at least partially integrated, and, for example, may be a configuration in which screen output and operation instructions are received in the same screen.

[0048] The CPU 103 is a system control module, and controls the target node 3000 comprehensively as a whole. For example, the control system module can control so that the target node 3000 such as a mobile terminal performs processing to perform calculation and data processing for positioning the target node 3000. In addition, for example, the CPU 103 performs display display control of the target node 3000. The ROM 104 stores fixed data such as data tables and control programs and operating system (OS) programs executed by the CPU 103. In the present embodiment, the ROM 104 stores various programs, for example, a program for being executed to calculate the position of the target node, and the like.

[0049] The RAM 105 (internal storage module) is constructed of, for example, an SRAM (static random access memory), a DRAM, etc. that requires a backup power supply. In this case, the RAM 105 can store important data such as program control variables in a nonvolatile manner. In addition, a storage area for storing setting information of the target node 3000, management data of the target node 3000, etc. is also provided in the RAM 105. In addition, the RAM 105 is used as a working memory and a main memory of the CPU 103.

[0050] The external memory 106 can store various application programs, etc. Furthermore, the external memory 106 can also store various programs such as an information transmission / reception control program for transmission / reception with a communication device (not shown) via the communication module 109, and various information used by these programs.

[0051] The output interface 107 is an interface for controlling the display 108 to display information and a display screen of an application. The display 108 is constructed of, for example, an LCD (Liquid Crystal Display), and may also be a TFT screen, a UFB screen, a STN screen, a TFD screen, an OLED screen, an ASV screen, etc. By arranging a soft keyboard having keys such as a numeric input key, a mode setting key, a decision key, a cancel key, and a power key on the display 108, an input from a user via the display 108 can be received.

[0052] The target node 3000 performs data communication with the anchor node 1000 and the virtual anchor node 2000 via the communication module 109 through a wireless communication method such as Bluetooth.

[0053] The target node 3000 can receive a signal from the anchor node and / or the virtual anchor node, and determine the indoor position of the target node according to the received signal.

[0054] When performing indoor positioning, the present invention adopts the CP algorithm built into an effective indoor positioning system, which can enable users to obtain a good user experience with low cost, high precision, and plug-and-play infrastructure. The CP algorithm adopted by the present invention is actually a fusion algorithm, which includes optimized beacon settings, site planning, multi-lateral positioning, noise reduction, event modification, special event processing, and stabilization.

[0055] like Figure 6 As shown, the indoor position of the target node is determined by the following steps. The order of these steps is not unique, and each step can also be executed in an order different from the following order, and each step is not necessarily included, and some steps can be omitted or replaced by other steps.

[0056] S100: extracting the positions of the anchor node, the virtual anchor node and the mobile node from the server.

[0057] Specifically, the service stores information such as Bluetooth beacons, mobile terminals provided by exhibition organizers as virtual anchor nodes, and user terminals as target nodes.

[0058] S102: Read the signals sent by the anchor node 1000 and the virtual anchor node 2000 multiple times in the indoor space within a predetermined time to discover the anchor node and the virtual anchor node for calculating the position of the target node.

[0059] Specifically, the user's mobile terminal performs multiple readings within a predetermined time in response to the user's instructions to discover the Bluetooth beacon as an anchor node and the Bluetooth signal sent by the mobile terminal provided by the exhibition organizer (or the exhibitor) as a virtual anchor node. The predetermined time can be preset, for example, setting a reading within 0.5 seconds, and the number of readings can also be preset, for example, setting 5 readings within each preset time period, such as 0.5 seconds. By reading the Bluetooth signals from the Bluetooth beacon and the mobile terminal of the exhibition organizer multiple times, the Bluetooth signals emitted by the Bluetooth beacon and the mobile terminal provided by the exhibition organizer can be obtained to calculate the location of the user's mobile terminal.

[0060] S104: The user's mobile terminal obtains corresponding signal strength indications (RSSIs) from the anchor node and the virtual anchor node, and determines RSSI standard deviations based on the received RSSIs.

[0061] Specifically, the user's mobile terminal calculates the standard deviation of RSSI from the RSSI emitted by the mobile terminal such as Bluetooth beacon and / or the exhibition organizer. The RSSI standard deviation of the Bluetooth signal can characterize the stability of the Bluetooth signal. The larger the value, the more unstable the Bluetooth signal is, and thus it is not suitable for determining the location of the user's mobile terminal. The node corresponding to the RSSI standard deviation will be considered unreliable.

[0062] Then, the mobile terminal of the user as the target node calculates the position of the mobile terminal based on the determined RSSI standard deviation. The calculation process can be performed by, for example, performing the following steps S106-S110.

[0063] S106: Based on the determined RSSI standard deviation, remove untrustworthy nodes from the discovered anchor nodes and virtual anchor nodes.

[0064] There may be one or more untrusted nodes in the Bluetooth beacons obtained by reading and the user terminals provided by the exhibition organizer. If the position of the user's mobile terminal is calculated based on the signals obtained by the untrusted nodes, the positioning result will be inaccurate. Therefore, the untrusted nodes are excluded in this step.

[0065] The removal of untrusted nodes can be achieved by the following exemplary exclusion methods:

[0066] S108: Calculate the score of each valid node in the anchor node and the virtual anchor node based on the SPEB (Square Error Upper Bound, equivalent to the increase in distance estimation variance) of the RSSI standard deviation.

[0067] The score can be calculated in the following manner. The following calculation method is only an example, and other methods not listed can also be used to calculate the score.

[0068] Calculation method 1: Set different weights for various parameters of the anchor node 1000 and the virtual anchor node 2000, such as the location of the user's mobile terminal, the type of node, and the strength of the Bluetooth signal, and calculate the scores of all or a certain range of anchor nodes and virtual anchor nodes based on the weights.

[0069] Calculation method 2: Set certain weights for the anchor node 1000 and the virtual anchor node 2000, and set different weights for various parameters of the anchor node and the virtual anchor node, such as the location with respect to the user terminal, the type of node, and the strength of the Bluetooth signal. Finally, weight the scores of all or a specific range of anchor nodes and virtual anchor nodes and calculate based on the weights.

[0070] S110: Select multiple nodes with the highest scores as trusted nodes (anchor nodes and virtual nodes), and determine the position of the target node based on the positions of the trusted nodes to calculate the position of the target node.

[0071] Specifically, after calculating the scores of each anchor node and virtual anchor node, the position of the target node is calculated by selecting multiple nodes with the highest scores for certain data. The position of the target node can be obtained by the following calculation formula:

[0072]

[0073] in,

[0074] The parameters in the above formula are:

[0075] n indicates the nth reference node.

[0076] ρ represents the localization variance of the node.

[0077] y represents the path loss exponent.

[0078] d n Represents the distance from the reference node, i.e. the node with the highest score, to the target to be located.

[0079] σ is the shadowing standard deviation.

[0080] represents the variance of a prioriknowledge of the n-th located reference node. If there is only one anchor,

[0081] Represents the angle from the nth reference node to the target to be located.

[0082] The above steps can be repeated multiple times to accurately locate the target node.

[0083] The CP calculation performed in the above manner has many advantages, such as:

[0084] Improved positioning accuracy, especially in areas with little or no beacon signal.

[0085] Expand the signal coverage of the venue.

[0086] Reduce the number of beacons required in a venue.

[0087] By applying the CP algorithm in the IPS solution, the technical problems raised in the background technology are effectively solved.

[0088] The new solution is cost-effective, more accurate and easier to set up, and provides a better user experience.

[0089] Provide an effective indoor location tracking solution that makes it easy to visit booths and meet people at exhibitions.

[0090] [Structure and function of virtual anchor node]

[0091] In this embodiment, a description is given by taking a mobile terminal as an example of a virtual anchor node. Although in this embodiment, a mobile terminal (including but not limited to a smart phone, a smart watch, a smart bracelet, a music player) is cited as a virtual anchor node 2000, it is obviously not limited thereto. The virtual anchor node of the present invention can be a laptop, a tablet computer, a PDA (personal digital assistant), a personal computer, or an Internet device with a touch screen and information processing function (such as a digital camera, etc.).

[0092] Taking the virtual anchor node as a mobile terminal as an example, its structure is similar to that of the mobile terminal as a target node, and will not be repeated here.

[0093] The following will refer to Figure 7To illustrate the various steps performed by the virtual anchor node when locating the target node. The steps can be performed in other orders and are not limited to the steps described below. And the steps are not necessarily included. Among them, the mobile device acts as a virtual anchor node to send a Bluetooth signal to the target node, so that the target node determines the location of the target node according to the Bluetooth signal sent by the virtual anchor node.

[0094] S210: Receive a Bluetooth signal sent by one or more anchor nodes.

[0095] Specifically, the mobile terminal provided by the exhibition organizer (or the exhibitor) as a virtual anchor node receives Bluetooth signals from Bluetooth beacons installed in the exhibition.

[0096] S220: Send a Bluetooth signal to the target node to locate the target node.

[0097] Specifically, the mobile terminal of the exhibition organizer acts as a virtual anchor node to send a Bluetooth signal to the mobile terminal of the user participating in the exhibition, and the Bluetooth signal is used to determine the location of the mobile terminal of the user.

[0098] like Figure 4 As shown, the virtual anchor node can be movable, such as a mobile terminal. The mobile terminal can be fixed at a certain location. When the Bluetooth beacon has been arranged and there is a range in the exhibition booth that cannot be covered by the Bluetooth beacon, the mobile terminal can be arranged in the booth that is not covered by the Bluetooth beacon, and the mobile terminal can be removed when the exhibition ends. The location of the virtual anchor node can also include a non-fixed location, such as some staff carrying the virtual anchor node and moving it.

[0099] The present invention adopts a virtual anchor node, so that the location tracking system of the present invention has significant advantages. In the technology known to the applicant, when there is no mobile node support, the positioning accuracy of the location tracking system may be greater than 10m. With the support of mobile nodes, the accuracy of positioning can be improved. However, there is a difference in stability between mobile nodes and anchor nodes, because when the anchor node is fixed in position, the mobile node will be in a mobile state, which will slightly affect the positioning accuracy. Compared with mobile nodes, virtual anchor nodes can provide a relatively stable signal source to calculate the position of the target node. This is because the virtual anchor node will stay in the relevant booth area, so its position (identified coordinates) is relatively stable.

[0100] In addition, the IPS solution described in the present invention is applicable to many different indoor places other than the above exhibition centers / exhibitions, such as shopping malls, commercial buildings, hospitals, libraries, smart factories, smart cities, parking lots, theme parks, etc.

[0101] Although the present invention has been described above with reference to exemplary embodiments, the above embodiments are only for illustrating the technical concept and features of the present invention and cannot be used to limit the protection scope of the present invention. Any equivalent variations or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A location tracking system in an indoor exhibition environment based on Bluetooth communication, which realizes indoor positioning of the target node through cooperative positioning of real anchor nodes and virtual anchor nodes. include: One or more real anchor nodes, wherein the real anchor nodes are Bluetooth beacons pre-installed in the exhibition; One or more virtual anchor nodes, wherein the virtual anchor node is a mobile device that stays in a fixed booth area and has a stable position, and the virtual anchor node can receive a Bluetooth signal from the real anchor node and send a Bluetooth signal to a target node; as well as A target node, wherein the target node is a mobile device to be located carried by an exhibitor, the mobile device has a processor and is capable of receiving Bluetooth signals, the mobile device is constructed to receive Bluetooth signals from the real anchor node and from the virtual anchor node, and obtain corresponding signal strength indication RSSI from the one or more real anchor nodes and the one or more virtual anchor nodes according to the received Bluetooth signals from the real anchor node and the received Bluetooth signals from the virtual anchor node, determine the RSSI standard deviation based on the obtained RSSI, calculate the scores of the one or more real anchor nodes and the one or more virtual anchor nodes based on the square positioning error upper limit SPEB of the RSSI standard deviation, select multiple nodes with the highest scores as trusted reference nodes, and determine the indoor position of the target node according to the Bluetooth signals from the reference nodes.

2. The location tracking system according to claim 1, wherein the target node include: A reading module, performing multiple readings in the indoor space within a predetermined time to discover real anchor nodes and virtual anchor nodes; A determination module, obtaining a corresponding signal strength indication RSSI from the real anchor node and the virtual anchor node, and determining an RSSI standard deviation based on the obtained RSSI; as well as A calculation module is used to calculate the position of the target node based on the determined RSSI standard deviation.

3. The position tracking system according to claim 2, in, The calculation module comprises: A removal submodule, removing untrusted nodes from the discovered real anchor nodes and virtual anchor nodes based on the determined RSSI standard deviation; and The determination submodule determines the location of the target node based on the trusted anchor node and the virtual location.

4. The position tracking system according to claim 3, in, The removal submodule: calculates the scores of each valid node in the real anchor node and the virtual anchor node based on the square error upper limit SPEB of the RSSI standard deviation; and Untrustworthy nodes among the real anchor nodes and the virtual anchor nodes are determined based on the calculated scores of the real anchor nodes and the virtual anchor nodes.

5. The position tracking system according to claim 4, in, The determination submodule uses the real anchor node and / or virtual anchor node corresponding to the highest score among the scores of the real anchor nodes and virtual anchor nodes calculated by the removal submodule as a trusted node to determine the location of the target node.

6. A mobile device to be positioned in an exhibition environment, the mobile device being carried by an exhibitor as a target node, the mobile device having a processor and being capable of receiving Bluetooth signals, the mobile device realizing its own indoor positioning by cooperative positioning of receiving Bluetooth signals sent by a Bluetooth beacon preset in the exhibition as a real anchor node and receiving Bluetooth signals sent by a mobile device stably staying in a fixed booth area as a virtual anchor node, the mobile device include: processor; as well as A memory storing executable instructions, wherein the processor executes the executable instructions to perform the following operations: Perform multiple readings in the indoor space within a predetermined time to discover real anchor nodes and virtual anchor nodes; Obtain corresponding signal strength indication RSSI from the real anchor node and the virtual anchor node, and determine RSSI standard deviation based on the obtained RSSI; The scores of the real anchor node and the virtual anchor node are calculated based on the square positioning error upper limit SPEB of the RSSI standard deviation, and multiple nodes with the highest scores are selected as trusted reference nodes, wherein the indoor position of the target node is determined based on the Bluetooth signal from the reference node.

7. The mobile device according to claim 6, in, The predetermined time is 0.5 seconds, and the number of readings is 5 times.

8. A method for realizing the position positioning of a target node in an indoor exhibition environment based on cooperative positioning of real anchor nodes and virtual anchor nodes. include: One or more real anchor nodes send a Bluetooth signal, where the real anchor nodes are Bluetooth beacons pre-installed in the exhibition; One or more virtual anchor nodes send a Bluetooth signal to a target node, wherein the virtual anchor node is a mobile device that stays in a fixed booth area and has a stable position, and the virtual anchor node can receive a Bluetooth signal from the real anchor node; as well as A mobile device to be located, which serves as a target node and is carried by an exhibitor, receives Bluetooth signals from the real anchor nodes and the virtual anchor nodes, and obtains corresponding signal strength indications RSSI from the one or more real anchor nodes and the one or more virtual anchor nodes based on the received Bluetooth signals from the real anchor nodes and the received Bluetooth signals from the virtual anchor nodes, determines an RSSI standard deviation based on the obtained RSSI, calculates scores of the one or more real anchor nodes and the one or more virtual anchor nodes based on a square positioning error upper limit SPEB of the RSSI standard deviation, selects multiple nodes with the highest scores as trusted reference nodes, and determines the indoor position of the target node based on the Bluetooth signals from the reference nodes.

Images