Bluetooth and visible light fusion positioning method, device, system, equipment and medium

Abstract

The present application discloses a method, device, system, equipment and medium for fusion positioning of Bluetooth and visible light. The method comprises: obtaining a first measurement parameter and obtaining a second measurement parameter; obtaining a positioning deviation parameter; using the positioning deviation parameter to respectively correct the first measurement parameter and the second measurement parameter; and determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter. According to the solution provided in the embodiment of the present application, the positioning accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a method, device, system, equipment and medium for integrating Bluetooth and visible light positioning. Background Art

[0002] As the "last mile" of navigation and positioning, indoor positioning has always been the focus of research institutions, professional companies and technology giants. Existing typical indoor positioning technologies mainly include Bluetooth Low Energy (BLE) positioning, Ultra Wideband (UWB) positioning, Wireless Fidelity (WiFi) positioning, Radio Frequency Identification (RFID) positioning, Visible Light Communication (VLC) positioning, ZigBee positioning, geomagnetic positioning, ultrasonic positioning, laser positioning and computer vision positioning. Among them, BLE positioning and VLC positioning have become the main technical means of indoor positioning.

[0003] Although there are many indoor positioning technologies, each technology has certain limitations. Their performances vary, but they are complementary to each other. Therefore, based on the single-system positioning method, a fusion positioning method has been extended. For example: WiFi+Bluetooth, Bluetooth+RFID, Bluetooth+Inertial Navigation, Bluetooth+WiFi+Visible Light, Bluetooth+Visible Light, Vision+LiDAR, etc.

[0004] However, the current Bluetooth + visible light positioning technology basically stays at the stage of using BLE to communicate and transmit VLC identity document (ID) data and location information, or further based on the fingerprint positioning method of received signal strength indication (RSSI) data, which are all in shallow level combination or feature level combination, rather than data level fusion. Moreover, the two systems are in heterogeneous positioning systems, there are inherent deviations between the systems, and the recognition accuracy is reduced. Summary of the invention

[0005] The Bluetooth and visible light fusion positioning method, device, system, equipment and medium provided in the embodiments of the present application can improve positioning accuracy.

[0006] In a first aspect, a method for fusion positioning of Bluetooth and visible light is provided, comprising:

[0007] Acquire a first measurement parameter, and acquire a second measurement parameter, wherein the first measurement parameter represents a relative position between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter represents a relative position between the visible light signal transmitting device and the target terminal;

[0008] Acquire positioning deviation parameters, where the positioning deviation parameters include positioning deviation data of the Bluetooth signal transmitting device and positioning deviation data of the visible light signal transmitting device;

[0009] Using the positioning deviation parameter to respectively correct the first measurement parameter and the second measurement parameter;

[0010] The location information of the target terminal is determined based on the corrected first measurement parameter and the corrected second measurement parameter.

[0011] In an optional implementation, obtaining the positioning deviation parameter includes:

[0012] Acquire first measurement parameters and second measurement parameters at multiple moments;

[0013] Based on the first measurement parameters and the second measurement parameters at multiple moments, a positioning deviation parameter is calculated.

[0014] In an optional implementation, the positioning deviation parameter is calculated using a generalized least squares method.

[0015] In an optional implementation, the first measurement parameter includes a first elevation angle and a first azimuth angle between the Bluetooth signal transmitting device and the target terminal.

[0016] Acquiring a first measurement parameter includes:

[0017] Transmit Bluetooth signals;

[0018] Obtaining the phase difference when the Bluetooth signal reaches multiple receiving antennas of the Bluetooth signal transmitting device, and the distance between the multiple receiving antennas;

[0019] Based on the phase difference and the distance, a first elevation angle and a first azimuth angle are determined.

[0020] In an optional implementation, 5. The method according to claim 1 or claim 4, characterized in that the first measurement parameter includes a first distance parameter between the Bluetooth signal transmitting device and the target terminal,

[0021] Acquiring a first measurement parameter includes:

[0022] Receiving a Bluetooth signal transmitted by a Bluetooth signal transmitting device;

[0023] Determining a strength value of a received Bluetooth signal;

[0024] Based on the corresponding relationship between the Bluetooth signal strength and the transmission distance, a distance parameter corresponding to the strength value is determined.

[0025] In an optional implementation, the second measurement parameter includes a second elevation angle and a second azimuth angle between the visible light signal transmitting device and the target terminal.

[0026] Obtaining a second measurement parameter includes:

[0027] Receiving a visible light signal emitted by a visible light signal emitting device;

[0028] Determine imaging position information of the visible light signal on the image sensor;

[0029] Based on the imaging position information, a second elevation angle and a second azimuth angle are determined.

[0030] In an optional implementation, the second measurement parameter includes a second distance parameter between the visible light signal transmitting device and the target terminal.

[0031] Obtaining a second measurement parameter includes:

[0032] Receiving a visible light signal emitted by a visible light signal emitting device;

[0033] Using the Lambertian model, a second distance parameter is determined.

[0034] In an optional implementation, the location information of the target terminal is two-dimensional location information, the first measurement parameter includes a first distance parameter, a first azimuth angle, and a first elevation angle between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter includes a second distance parameter, a second azimuth angle, and a second elevation angle between the visible light signal transmitting device and the target terminal.

[0035] Determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter includes:

[0036] Determining first estimated location information of the target terminal using the corrected first measurement parameter;

[0037] Determining second estimated location information of the target terminal using the corrected second measurement parameter;

[0038] Determining two-dimensional location information of the target terminal based on the first estimated location information and the second estimated location information;

[0039] Wherein, θ′1 represents the first azimuth after correction, and θ′2 represents the second azimuth after correction,

[0040] The first estimated position information (x1, y1) satisfies the formula:

[0041]

[0042] Wherein, r′1 represents the first distance parameter after correction, and e′1 represents the first elevation angle after correction;

[0043] The second estimated position information (x2, y2) satisfies the formula:

[0044]

[0045] Wherein, r′2 represents the corrected second distance parameter, and e′2 represents the corrected second elevation angle.

[0046] In an optional implementation, the sum of the number of Bluetooth signal transmitting devices and visible light signal transmitting devices is equal to 2.

[0047] The calculation formula for two-dimensional position information (x, y) includes:

[0048]

[0049] In an optional implementation, the sum of the number of Bluetooth signal transmitting devices and visible light signal transmitting devices is greater than 2.

[0050] Determining two-dimensional location information of a target terminal based on the first estimated location information and the second estimated location information includes:

[0051] Based on at least one Bluetooth signal transmitting device and at least one visible light signal transmitting device, determining multiple groups of positioning subsystems, wherein each group of positioning subsystems includes a Bluetooth signal transmitting device and a visible light signal transmitting device;

[0052] For each group of positioning subsystems, perform the following steps:

[0053] Determine reference position information using the first estimated position information of the Bluetooth signal transmitting device in each group and the second estimated position information of the visible light signal transmitting device in each group;

[0054] Determine a weight value of the reference position information based on a first distance parameter of the Bluetooth signal transmitting device in each group and a second distance parameter of the visible light signal transmitting device in each group;

[0055] Calculate the product of the reference position information and the weight value to obtain the weighted result of the reference position information of each group of positioning subsystems;

[0056] Calculate the average value of the weighted results of the reference position information of multiple groups of positioning subsystems to obtain the two-dimensional position information of the target terminal.

[0057] The calculation formula of the reference position information (x, y) includes:

[0058]

[0059] In an optional implementation, the location information of the target terminal is three-dimensional location information, the first measurement parameter includes a first elevation angle, a first azimuth angle, and a first distance parameter between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter includes a second elevation angle, a second azimuth angle, and a second distance parameter between the visible light signal transmitting device and the target terminal.

[0060] Determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter includes:

[0061] Determining third estimated location information of the target terminal using the corrected first measurement parameter;

[0062] Determining fourth estimated location information of the target terminal using the corrected second measurement parameter;

[0063] Determine a first weight of the third estimated position information based on the first distance parameter, and determine a second weight of the third estimated position information based on the positioning deviation data of the Bluetooth signal transmitting device;

[0064] Determine a third weight of the fourth estimated position information based on the second distance parameter, and determine a fourth weight of the third estimated position information based on the positioning deviation data of the visible light signal transmitting device;

[0065] The third estimated location information, the first weight, and the second weight are weighted and summed to obtain the location information of the target terminal;

[0066] The third estimated position information satisfies the following calculation formula:

[0067]

[0068] Where r′1 is the corrected first distance parameter, e′1 is the corrected first elevation angle, and θ′1 is the corrected first azimuth angle;

[0069] The fourth estimated position information satisfies the following calculation formula:

[0070]

[0071] Wherein, r′2 is the corrected second distance parameter, e′2 is the corrected second elevation angle, and θ′2 is the corrected second azimuth angle.

[0072] In a second aspect, a Bluetooth and visible light fusion positioning device is provided, comprising:

[0073] A first parameter acquisition module, used to acquire a first measurement parameter and a second measurement parameter, wherein the first measurement parameter represents a relative position between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter represents a relative position between the visible light signal transmitting device and the target terminal;

[0074] A second parameter acquisition module is used to acquire positioning deviation parameters, where the positioning deviation parameters include positioning deviation data of the Bluetooth signal transmitting device and positioning deviation data of the visible light signal transmitting device;

[0075] A parameter correction module, used to correct the first measurement parameter and the second measurement parameter respectively using the positioning deviation parameter;

[0076] The location determination module is used to determine the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter.

[0077] In a third aspect, a Bluetooth and visible light fusion positioning system is provided, comprising: a Bluetooth signal transmitting device; a visible light signal transmitting device; and a target terminal, for executing the Bluetooth and visible light fusion positioning method provided in the first aspect or any optional implementation manner of the first aspect.

[0078] In a fourth aspect, a Bluetooth and visible light fusion positioning device is provided, comprising: a memory for storing a program;

[0079] A processor is used to run the program stored in the memory to execute the Bluetooth and visible light fusion positioning method provided by the first aspect or any optional implementation of the first aspect.

[0080] In a fifth aspect, a computer storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the Bluetooth and visible light fusion positioning method provided by the first aspect or any optional implementation of the first aspect is implemented.

[0081] According to the Bluetooth and visible light fusion positioning method, device, system, equipment and medium in the embodiment of the present application, the first measurement parameter, the second measurement parameter and the positioning deviation parameter can be obtained. Since the positioning deviation parameter includes the positioning deviation data of the Bluetooth signal transmitting device and the positioning deviation data of the visible light signal transmitting device, the first measurement parameter representing the relative position of the Bluetooth signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the Bluetooth signal transmitting device and the target terminal can be obtained. In addition, the second measurement parameter representing the relative position of the visible light signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the visible light signal transmitting device and the target terminal can be obtained. Therefore, the Bluetooth and visible light fusion positioning solution provided in the embodiment of the present application can accurately calculate the location information of the target terminal using the corrected first measurement parameter and the corrected second measurement parameter, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0083] Figure 1 This is a system framework diagram of a Bluetooth and visible light fusion positioning system provided in an embodiment of the present application;

[0084] Figure 2 is a schematic flow chart of a Bluetooth and visible light fusion positioning method provided in an embodiment of the present application;

[0085] Figure 3A-3C is a schematic diagram of a principle for obtaining a first measurement parameter provided by an embodiment of the present application;

[0086] Figure 4 is a schematic diagram of a principle for obtaining a second measurement parameter provided by an embodiment of the present application;

[0087] Figure 5 is a schematic diagram of an exemplary positional relationship between a Bluetooth signal transmitting device, a visible light signal transmitting device and a target terminal provided in an embodiment of the present application;

[0088] Figure 6 It is a structural schematic diagram of a Bluetooth and visible light fusion positioning device provided in an embodiment of the present application;

[0089] Figure 7 is a system architecture diagram of an exemplary fusion positioning system provided in an embodiment of the present application;

[0090] Figure 8It is a structural diagram of an exemplary hardware architecture of a fusion positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0091] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0092] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0093] The embodiments of the present application provide a method, device, system, equipment and medium for fusion positioning based on Bluetooth and visible light, which can be used in scenarios where terminals are positioned indoors. Compared with a related Bluetooth + visible light fusion positioning solution, the first measurement parameter and the second measurement parameter can be corrected using the positioning deviation parameter to obtain the true relative position between the Bluetooth signal transmitting device and the target terminal, as well as the true relative position between the visible light signal transmitting device and the target terminal. Thus, the system deviation between heterogeneous positioning systems can be overcome and the positioning accuracy can be improved.

[0094] In order to better understand the present application, the Bluetooth and visible light fusion positioning method, device, system, equipment and medium according to the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. It should be noted that these embodiments are not intended to limit the scope of the present application.

[0095] First of all, in order to understand the fusion positioning solution provided by the embodiment of the present application as a whole, the embodiment of the present application first specifically describes the fusion positioning system.

[0096] Figure 1: is a system framework diagram of a Bluetooth and visible light fusion positioning system provided in an embodiment of the present application. Figure 1 As shown, the Bluetooth and visible light fusion positioning system 10 in this embodiment may include the following devices: a Bluetooth signal transmitting device 11, a visible light signal transmitting device 12 and a target terminal 13. The following first describes the three devices in detail.

[0097] First, for the Bluetooth signal transmitting device 11. The Bluetooth signal transmitting device in the embodiment of the present application can be a Bluetooth signal transmitting device with a lateral function, such as a Bluetooth signal transmitting device that supports Bluetooth 5.1 standard technology. Exemplarily, the Bluetooth signal transmitting device 11 can be implemented as a Bluetooth locator. For example, an antenna array composed of multiple Bluetooth antennas.

[0098] Secondly, regarding the visible light signal emitting device 12, it uses a light emitting diode (LED) as a signal source, and transmits information by emitting high-speed flashing light waves that cannot be recognized by the human eye. For example, lighting fixtures, LED screens, etc. can all be used as the visible light signal emitting device 12.

[0099] The target terminal 13 may be an electronic device having a visible light signal receiving function and a Bluetooth signal receiving and transmitting function. For example, a mobile phone, an electronic watch, a tablet computer, and the like. In the embodiment of the present application, the target terminal 13 may have an image sensor for receiving visible light signals, such as a complementary metal oxide semiconductor (CMOS) sensor.

[0100] After explaining the above three main devices, the following parts of the embodiment of the present application will be combined Figure 1 The fusion positioning process is explained in detail.

[0101] like Figure 1 As shown, the dotted rectangle represents the horizontal plane, and the black solid ellipse represents the target terminal 13. Figure 1 , the target terminal 13 is not necessarily on the horizontal plane, but has a certain distance h from the horizontal plane. Then the plane where the target terminal 13 is located and parallel to the horizontal plane can be used as the terminal plane, that is, Figure 1 The solid rectangle in . Among them, Figure 1 The ellipse 21 with a shaded portion is the projection of the target terminal on the horizontal plane. If the position coordinates of the target terminal can be expressed as (x, y, h), the position coordinates of the ellipse 21 can be expressed as (x, y, 0).

[0102] The Bluetooth signal transmitting device 11 transmits the Bluetooth signal to the target terminal 13, and the dotted line between the two can represent the transmission direction of the Bluetooth signal. Accordingly, RSSI1 can represent the distance between the Bluetooth signal transmitting device 11 and the target terminal 13. θ1 can represent the elevation angle between the Bluetooth signal transmitting device 11 and the target terminal 13, that is, the angle between the direction perpendicular to the horizontal plane and the Bluetooth signal transmission direction. e1 can represent the azimuth angle between the Bluetooth signal transmitting device 11 and the target terminal 13, that is, the angle between the line between the projection point 0 of the Bluetooth signal transmitting device 11 and the ellipse 21 and the x-axis.

[0103] The visible light signal transmitting device 12 transmits the visible light signal to the target terminal 13, and the dotted line between the two indicates the transmission direction of the visible light signal. θ2 may indicate the elevation angle between the visible light signal transmitting device 12 and the target terminal 13, and e2 may indicate the azimuth angle between the visible light signal transmitting device 12 and the target terminal 13.

[0104] The fusion positioning solution in the embodiment of the present application can make up for the shortcomings of a single positioning technology and realize the complementary advantages of Bluetooth positioning technology and visible light positioning technology. Among them, BLE positioning is a low-power indoor positioning technology, which has the characteristics of small device size, low power consumption, easy deployment, and high positioning accuracy. There are many LED light sources, such as lighting fixtures, LED screens, etc., which can provide a constant light source for VLC positioning technology without the need to lay out additional equipment.

[0105] In addition, compared with the BLE+VLC fusion positioning technology that uses Bluetooth 4.2 standard technology in the prior art, since Bluetooth 4.2 standard technology does not have a lateral function, the prior art does not make full use of lateral data, and the most widely used general positioning algorithms mainly include three-sided positioning and fingerprint positioning, which cannot achieve data-level fusion. However, in the embodiment of the present application, a Bluetooth signal transmitting device that supports Bluetooth 5.1 standard technology can obtain lateral data such as pitch angle and azimuth, so that indoor positioning can be achieved together with the pitch angle, azimuth and other measurement data of the visible light signal transmitting device, achieving data-level fusion. In addition, in the embodiment of the present application, a Bluetooth signal transmitting device that supports Bluetooth 5.1 standard technology can also achieve centimeter-level positioning, further providing positioning accuracy.

[0106] Figure 2 FIG. 1 is a schematic flow chart of a method for integrating Bluetooth and visible light positioning provided in an embodiment of the present application. Figure 2 As shown, the Bluetooth and visible light fusion positioning method 200 in this embodiment may include the following S210 to S240.

[0107] S210, obtaining a first measurement parameter and a second measurement parameter, wherein the first parameter may represent the relative position between the Bluetooth signal transmitting device 11 and the target terminal 13, and the second measurement parameter represents the relative position between the visible light signal transmitting device 12 and the target terminal 13.

[0108] In S210, the following part of the embodiment of the present application first specifically describes the first measurement parameter and the second measurement parameter respectively.

[0109] For the first measurement parameter.

[0110] In one embodiment, the first measurement parameter may include: a first elevation angle and a first azimuth angle between the Bluetooth signal transmitting device 11 and the target terminal 13. Figure 1 , the first elevation angle may be θ1, and the first azimuth angle may be e1.

[0111] At this time, the specific implementation of obtaining the first measurement parameter may include steps a1 to a3.

[0112] Step a1: transmitting a Bluetooth signal.

[0113] In some embodiments, the target terminal 13 may send a Bluetooth signal carrying a direction-finding data packet to the Bluetooth signal transmitting device 11. The Bluetooth signal may be a radio frequency signal, such as an In-phase / Quadrature (IQ) signal.

[0114] For example, Figure 3A-3C Schematic diagram of the principle of obtaining a first measurement parameter provided by an embodiment of the present application. Figure 3A As shown, the target terminal 13 can transmit a Bluetooth signal. The two receiving antennas 111 and 112 of the Bluetooth signal transmitting device can receive the Bluetooth signal. It should be noted that in addition to the receiving antenna 111 and the receiving antenna 112, there may be other receiving antennas, which are not shown here for the sake of convenience.

[0115] Step a2, obtaining the phase difference and the distance between the antennas when the Bluetooth signal reaches the multiple receiving antennas 111-11n of the Bluetooth signal transmitting device 11. Wherein, n is a positive integer.

[0116] For example, Figure 3B As shown, taking receiving antenna 111 and receiving antenna 112 as an example, since the distances between the two and target terminal 13 are different, the phase difference of the Bluetooth signal reaching the two receiving antennas is different, and the phase difference between the two is α. In addition, the output distance between the Bluetooth signal and the two antennas is different, for example Figure 3C The middle dotted line represents the Bluetooth signal, and the transmission distance difference between the Bluetooth signal and the two antennas is r. Figure 3C θ1 in θ represents the first elevation angle.

[0117] Step a3: determining a first elevation angle and a first azimuth angle based on the phase difference and the distance between the antennas.

[0118] Specifically, for the first elevation angle, its calculation formula satisfies formula (1):

[0119]

[0120] Where r represents the transmission distance difference between the Bluetooth signal and the two antennas, and d represents the distance between the two antennas. The transmission distance difference r between the Bluetooth signal and the two antennas is calculated as formula (2):

[0121]

[0122] Among them, α is the phase difference of the Bluetooth signal reaching the two receiving antennas, and λ is the wavelength of the Bluetooth signal.

[0123] Combining the above formula (1) and formula (2), we get the calculation formula (3):

[0124]

[0125] In this embodiment, the distance d between the antennas and the phase difference α are substituted into formula (3) to calculate the first elevation angle θ1.

[0126] Correspondingly, after the first elevation angle θ1 is calculated, the first azimuth angle e1 may be calculated according to the corresponding relationship between the first elevation angle θ1 and the azimuth angle.

[0127] In another embodiment, the first measurement parameter may include: a first distance parameter RSSI between the Bluetooth signal transmitting device 11 and the target terminal 13 d .

[0128] At this time, the specific implementation of obtaining the first measurement parameter may include steps a4 to a6.

[0129] Step a4, receiving the Bluetooth signal transmitted by the Bluetooth signal transmitting device 11.

[0130] Step a5, determining the RSSI value of the received Bluetooth signal.

[0131] Step a6: Determine the first distance parameter RSSI corresponding to the strength value based on the corresponding relationship between the Bluetooth signal strength and the transmission distance. d .

[0132] Specifically, the distance parameter RSSI d Satisfies formula (4):

[0133] RSSI d =10^((abs(RSSI)-A) / (10*n)) (4)

[0134] Among them, RSSI is the strength value of the received Bluetooth signal, A is the signal strength when the Bluetooth signal transmitting device 11 and the target terminal 13 are 1 meter apart, and n is the environmental attenuation factor.

[0135] According to this embodiment, since the transmission distance of the Bluetooth signal satisfies the radio attenuation model, that is, RSSI is proportional to the logarithm of the distance, the distance between the Bluetooth signal transmitting device 11 and the target terminal 13 can be accurately calculated using formula (4).

[0136] For the second measurement parameter.

[0137] In one embodiment, the second measurement parameter may include: a second elevation angle and a second azimuth angle between the visible light signal transmitting device and the target terminal. Figure 1 , the second elevation angle can be θ2, and the second azimuth angle can be e2.

[0138] At this time, the specific implementation of obtaining the second measurement parameter may include steps b1 to b3.

[0139] Step b1, receiving the visible light signal emitted by the visible light signal emitting device 12.

[0140] Specifically, the visible light signal may be received by an image sensor of the target terminal 13 .

[0141] Step b2, determining the imaging position information of the visible light signal on the image sensor.

[0142] For example, Figure 4 Schematic diagram of the principle of obtaining a second measurement parameter provided by an embodiment of the present application. Figure 4 As shown, point A is the center of the visible light signal transmitting device 12, and its coordinates can be expressed as A(u, v, w). Point B is the center point of the projection of the visible light signal on the angular surface of the image acquisition device. Point C is the imaging coordinate point of the visible light signal in the image acquisition device, and its coordinates can be expressed as C(x', y', z'). Among them, RSSI2 represents the distance between the visible light signal transmitting device 12 and the target terminal 13, θ2 represents the second elevation angle, and e2 represents the second azimuth angle.

[0143] When the light signal of the visible light signal transmitting device 12 is projected onto the CMOS image sensor in the terminal, the CMOS image sensor can directly determine the two-dimensional coordinates (x', y') based on the projection point on the two-dimensional plane. Furthermore, the value of z' is the distance between the prism in the camera and the CMOS image sensor. Therefore, for the terminal, the imaging coordinates (x', y', z') are known quantities. Based on the known imaging coordinates in the terminal, the second elevation angle θ2 and the second azimuth angle e2 can be directly determined by the triangulation principle.

[0144] Step b3, determining a second elevation angle and a second azimuth angle based on the imaging position information.

[0145] Specifically, the second azimuth angle e2 satisfies formula (5)

[0146]

[0147] Specifically, the second elevation angle θ2 satisfies formula (6)

[0148]

[0149] In another embodiment, the second measurement parameter includes a second distance parameter between the visible light signal transmitting device and the target terminal.

[0150] At this time, the specific implementation method of obtaining the second measurement parameter may include steps b4 to b5.

[0151] Step b4, receiving the visible light signal emitted by the visible light signal emitting device.

[0152] It should be noted that step b4 may be the same step as step b1, or may be a different step.

[0153] Step b5: Determine the second distance parameter using the Lambertian model.

[0154] Specifically, the Lambert model can be expressed as formula (7):

[0155]

[0156] Where A is the receiving area of ​​the light detector, ψ c is the receiving angle of the terminal receiver, θ is the radiation angle, ψ is the receiving angle, T(ψ) is the filter gain of the terminal receiver, g(ψ) is the optical concentrator gain, RSSI d is the second distance parameter.

[0157] S220, obtaining positioning deviation parameters.

[0158] Among them, the positioning deviation parameter includes the positioning deviation data of the Bluetooth signal transmitting device 11 and the positioning deviation data of the visible light signal transmitting device 12. Exemplarily, the positioning deviation data corresponds to the data in the measurement parameters one by one. For example, if the first measurement parameter and the second measurement parameter each include a distance, an azimuth, and an elevation, the positioning deviation parameter includes 6 positioning deviation data, namely, deviation data corresponding to the distance, azimuth, and elevation of the first measurement parameter, respectively, and deviation data corresponding to the distance, azimuth, and elevation of the second measurement parameter, respectively.

[0159] For ease of explanation, Figure 5 Schematic diagram of the positional relationship between an exemplary Bluetooth signal transmitting device, a visible light signal transmitting device and a target terminal provided in an embodiment of the present application. Figure 1 As shown, a first rectangular coordinate system X1Y1Z1 is established at the Bluetooth signal transmitting device 11 with the Bluetooth signal transmitting device 11 as the origin, and the position of the target terminal 13 measured by the Bluetooth signal transmitting device 11 is T1. A second rectangular coordinate system X2Y2Z2 is established at the visible light signal transmitting device 12 with the visible light signal transmitting device 12 as the origin, and the position of the target terminal 13 measured by the visible light signal transmitting device 12 is T2. However, the real position of the target terminal 13 can be expressed as (r'1, e'1, θ'1) and (r'2, e'2, θ'2) in the first rectangular coordinate system X1Y1Z1 and the second rectangular coordinate system X2Y2Z2, respectively. Therefore, in order to obtain the real position of the target terminal 13, the positioning deviation data of the Bluetooth signal transmitting device 11 and the positioning deviation data of the visible light signal transmitting device 12 must be calculated first.

[0160] In some embodiments, the method of obtaining the positioning deviation parameter may specifically include step c1 and step c2.

[0161] Step c1, acquiring first measurement parameters and second measurement parameters at multiple moments.

[0162] Exemplarily, the first measurement parameter and the second measurement parameter at n moments may be obtained, and the first measurement parameter and the second measurement parameter at each moment may be used as a measurement vector. For example, the measurement vector at the kth moment may be expressed as ψ k =[r 1,k ,e 1,k ,θ 1,k ,r 2,k ,e 2,k ,θ 2,k ] T Among them, r 1,k represents the first distance parameter, e 1,k represents the first azimuth, θ 1,k represents the first elevation angle, r 2,krepresents the second distance parameter, e 2,k represents the second azimuth, θ 2,k represents the second elevation angle, wherein k is any integer less than n.

[0163] Step c2, calculating the positioning deviation parameter based on the first measurement parameters and the second measurement parameters at multiple moments.

[0164] In one example, the positioning deviation parameter is calculated using a generalized least squares method.

[0165] Specifically, the specific implementation methods for calculating the positioning deviation parameters include the following methods.

[0166] First, ψ k =[r 1,k ,e 1,k ,θ 1,k ,r 2,k ,e 2,k ,θ 2,k ] T Converting to the rectangular coordinate system, we can obtain formulas (8)-(10):

[0167]

[0168] f(ψ k ,β)=[Δx k ,Δy k ,Δz k ] T (9)

[0169] ψ k '=[r' 1,k ,e' 1,k ,θ' 1,k ,r' 2,k ,e' 2,k ,θ' 2,k ] T (10)

[0170] Secondly, formula (10) represents the measurement vector of the first measurement parameter and the second measurement parameter at the kth moment (including positioning deviation and random error).

[0171] Then, if β' represents the initial estimate of the positioning deviation, without any prior information, assume that β' = [0,0,0,0,0,0] T By performing Taylor first-order expansion on formula (8), we can obtain formula (11):

[0172] f(ψ k ,β)=f[ψ' k ,β']+Δ β [f[ψ'k ,β']](β-β')+Δ ψ [f[ψ' k ,β']](ψ k -ψ' k ) (11)

[0173] For the same target terminal, formula (11) can be changed to formula (12):

[0174] 0=f[ψ' k ,β']+G k (β-β')+F k (ψ k -ψ' k ) (12)

[0175] Let F in formula (12) k =Δ ψ [f[ψ' k ,β']],G k =Δ β [f[ψ' k ,β']], then formula (12) can be rearranged to obtain formula (13):

[0176]

[0177] Let formula (13) Then formula (13) can be written as formula (14):

[0178] G k β+ξ k =Z k (14)

[0179] After measuring at n moments, n different points are obtained, which can be expressed in a matrix as formula (15):

[0180] Hβ+ξ=Z (15)

[0181] In formula (15), H = [G1, G2, ... G n ] T ,ξ=[ξ1,ξ2,…ξ n ] T ,Z=[Z1,Z2,…Z n ] T , the solution of positioning deviation is formula (16):

[0182]

[0183] In an embodiment of the present application, according to the generalized least-squares (GLS) algorithm, the influence of random noise on the positioning deviation solution can be solved, and unbiased estimation and consistency estimation can be achieved, so that the correction model is closer to reality, thereby eliminating or reducing system noise and measurement noise, and improving positioning accuracy.

[0184] S230: Correct the first measurement parameter and the second measurement parameter respectively using the positioning deviation parameter.

[0185] As an example, the positioning deviation parameter β includes 6 positioning deviation data, namely, deviation data corresponding to the distance, azimuth, and elevation of the first measurement parameter, and deviation data corresponding to the distance, azimuth, and elevation of the second measurement parameter. Therefore, if the first measurement parameter and the second measurement parameter can be expressed as a vector ψ = [r1, e1, θ1, r2, e2, θ2] T , then add the positioning deviation parameter β to the vector to obtain the vector ψ=[r1',e'1,θ'1,r'2,e'2,θ'2] T .

[0186] The corrected first measurement parameters include: a corrected first distance parameter r1', a corrected first azimuth angle e'1 and a corrected first elevation angle θ'1. The corrected second measurement parameters include: a corrected second distance parameter r'2, a corrected second azimuth angle e2' and a corrected second elevation angle θ'2.

[0187] S240: Determine location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter.

[0188] According to the fusion positioning method of Bluetooth and visible light in the embodiment of the present application, the first measurement parameter, the second measurement parameter and the positioning deviation parameter can be obtained. Since the positioning deviation parameter includes the positioning deviation data of the Bluetooth signal transmitting device and the positioning deviation data of the visible light signal transmitting device, the first measurement parameter representing the relative position of the Bluetooth signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the Bluetooth signal transmitting device and the target terminal can be obtained. In addition, the second measurement parameter representing the relative position of the visible light signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the visible light signal transmitting device and the target terminal can be obtained. Therefore, the fusion positioning solution of Bluetooth and visible light provided in the embodiment of the present application can accurately calculate the location information of the target terminal using the corrected first measurement parameter and the corrected second measurement parameter, thereby improving the positioning accuracy.

[0189] Optionally, the location information of the target terminal may be two-dimensional location information, and the two-dimensional location information may include location data in a first direction and location data in a second direction, that is, positioning the target terminal in a two-dimensional plane. That is, in the two-dimensional plane, the location of the target terminal is determined by numerical values ​​in the degrees of freedom in the X and Y directions. For example, the longitude and latitude information of the location of the target terminal is determined.

[0190] Specifically, S240 may specifically include step a1 to step a3.

[0191] Step a1: Determine the first estimated location information (x1, y1) of the target terminal using the corrected first measurement parameter.

[0192] Among them, the first estimated position information (x1, y1) satisfies calculation formula (17):

[0193]

[0194] Step a2: using the corrected second measurement parameter to determine the second estimated location information (x2, y2) of the target terminal.

[0195] Among them, the second estimated position information (x2, y2) satisfies calculation formula (18):

[0196]

[0197] Step a3: Determine the two-dimensional location information of the target terminal based on the first estimated location information and the second estimated location information.

[0198] In some embodiments, if the positioning system includes only one Bluetooth signal transmitting device and one visible light signal transmitting device, that is, the sum of the number of Bluetooth signal transmitting devices and the visible light signal transmitting device is equal to 2, the two-dimensional position information of the target terminal can be directly calculated using the first estimated position information and the second estimated position information.

[0199] At this time, the two-dimensional location information (x, y) of the target terminal satisfies formula (19):

[0200]

[0201] In some other embodiments, if the sum of the number of Bluetooth signal transmitting devices and visible light signal transmitting devices in the positioning system is greater than 2, step a3 may specifically include steps a31 to a33.

[0202] Step a31, based on at least one Bluetooth signal transmitting device and at least one visible light signal transmitting device, determine n pairs of positioning systems. Each pair of positioning systems includes a Bluetooth signal transmitting device and a visible light signal transmitting device. Exemplarily, if Bluetooth signal transmitting devices A1 and A2 are included, and visible light signal transmitting devices B1 and B2 are included, then the positioning subsystem C includes 4 C1-C4, namely C1 (A1, B1), C2 (A1, B2), C3 (A2, B1), C4 (A2, B2).

[0203] Step a32: for each group of positioning systems, execute the following steps a321 to a323.

[0204] Step a321, using the first estimated position information of the Bluetooth signal transmitting device in each group and the second estimated position information of the visible light signal transmitting device in each group, to determine the reference position information T i . Wherein, i is any integer between 1 and n.

[0205] Among them, the reference position information T i The calculation method of is the same as the calculation method of the two-dimensional position information shown in combination with formula (19), and will not be repeated here.

[0206] Step a322, based on the first distance parameter r' of the Bluetooth signal transmitting device in each group i1 and the second distance parameter r′ of the visible light signal transmitting device in each group i2 , determine the weight value of the reference position information.

[0207] Optionally, the step of calculating the weight may specifically include steps a3221 to a3223.

[0208] Step a3221, calculating the average value of the first distance parameter of the Bluetooth signal transmitting devices of multiple positioning systems and the average value of the second distance parameters of the visible light signal transmitting devices of the multiple positioning systems

[0209] Step a3222, calculate the first distance parameter r' in the group i1 and the second distance parameter r′ in the group i2 The target data set is composed of the average value of the first distance parameter and the average of the second distance parameter The Euclidean distance between the benchmark data sets.

[0210] Among them, the Euclidean distance O i Satisfies formula (20):

[0211]

[0212] Step a3223, the Euclidean distance O of the group i The inverse of is used as the reference position information T i The weight value w i .

[0213] Specifically, that is, the weight value w i =1 / O i .

[0214] The sum of the weight values ​​of n groups of reference position information is equal to 1.

[0215] Step a323, calculate reference position information T i and weight value w i The product of the reference position information is obtained by weighting the reference position information T. i *w i .

[0216] Step a33, calculating the average value of the weighted results of the reference position information of multiple groups of positioning systems to obtain the two-dimensional position information of the target terminal.

[0217] That is to say, the two-dimensional location information T′ of the target terminal satisfies formula (21):

[0218]

[0219] Alternatively, the location information of the target terminal may be three-dimensional location information, and the three-dimensional location information may include location data in a first direction, location data in a second direction, and location data in a third direction, that is, positioning the target terminal in three-dimensional space. That is, in three-dimensional space, the location of the target terminal is determined by numerical values ​​in the three degrees of freedom of the X, Y, and Z directions. For example, the latitude and longitude information and the altitude information of the location of the target terminal are determined.

[0220] Based on the same application concept, in addition to providing a Bluetooth and visible light fusion positioning method, the embodiment of the present application also provides a corresponding Bluetooth and visible light fusion positioning device. The device according to the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0221] The embodiment of the present application provides a Bluetooth and visible light fusion positioning device. Figure 6 Schematic diagram of a Bluetooth and visible light fusion positioning device provided in an embodiment of the present application. Figure 6 As shown, the Bluetooth and visible light fusion positioning device 600 includes a first parameter acquisition module 610 , a second parameter acquisition module 620 , a parameter correction module 630 and a position determination module 640 .

[0222] The first parameter acquisition module 610 is used to acquire a first measurement parameter and a second measurement parameter, wherein the first measurement parameter represents the relative position between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter represents the relative position between the visible light signal transmitting device and the target terminal.

[0223] The second parameter acquisition module 620 is used to acquire positioning deviation parameters, where the positioning deviation parameters include positioning deviation data of the Bluetooth signal transmitting device and positioning deviation data of the visible light signal transmitting device.

[0224] The parameter correction module 630 is used to correct the first measurement parameter and the second measurement parameter respectively using the positioning deviation parameter.

[0225] The location determination module 640 is used to determine the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter.

[0226] In some embodiments of the present application, the first parameter acquisition module 610 includes a parameter acquisition unit and a calculation unit.

[0227] The parameter acquisition unit is used to acquire the first measurement parameter and the second measurement parameter at multiple moments.

[0228] The calculation unit is used to calculate the positioning deviation parameter based on the first measurement parameter and the second measurement parameter at multiple moments.

[0229] In some embodiments of the present application, the positioning deviation parameter is calculated using the generalized least squares method.

[0230] In some embodiments of the present application, the first measurement parameter includes a first elevation angle and a first azimuth angle between the Bluetooth signal transmitting device and the target terminal.

[0231] The first parameter acquisition module 610 includes a transmitting unit, a parameter acquisition unit and a calculation unit.

[0232] The transmitting unit is used to transmit Bluetooth signals.

[0233] The parameter acquisition unit is used to acquire the phase difference when the Bluetooth signal reaches the multiple receiving antennas of the Bluetooth signal transmitting device, and the distance between the multiple receiving antennas.

[0234] The calculation unit is used to determine a first elevation angle and a first azimuth angle based on the phase difference and the distance.

[0235] In some embodiments of the present application, the first measurement parameter includes a first distance parameter between the Bluetooth signal transmitting device and the target terminal.

[0236] The first parameter acquisition module 610 includes a receiving unit, a parameter determination unit and a calculation unit.

[0237] The receiving unit is used for receiving the Bluetooth signal transmitted by the Bluetooth signal transmitting device.

[0238] The parameter determination unit is used to determine the strength value of the received Bluetooth signal.

[0239] The calculation unit is used to determine a distance parameter corresponding to the strength value based on the corresponding relationship between the Bluetooth signal strength and the transmission distance.

[0240] In some embodiments of the present application, the second measurement parameter includes a second elevation angle and a second azimuth angle between the visible light signal transmitting device and the target terminal.

[0241] The first parameter acquisition module 610 includes a receiving unit, a parameter determination unit and a calculation unit.

[0242] The receiving unit is used to receive the visible light signal emitted by the visible light signal emitting device.

[0243] The parameter determination unit is used to determine imaging position information of the visible light signal on the image sensor.

[0244] The calculation unit is used to determine a second elevation angle and a second azimuth angle based on the imaging position information.

[0245] In some embodiments of the present application, the second measurement parameter includes a second distance parameter between the visible light signal transmitting device and the target terminal.

[0246] The first parameter acquisition module 610 includes a receiving unit and a calculating unit.

[0247] The receiving unit is used to receive the visible light signal emitted by the visible light signal emitting device.

[0248] The calculation unit is used to determine the second distance parameter by using the Lambertian model.

[0249] In some embodiments of the present application, the location information of the target terminal is two-dimensional location information. The first measurement parameter includes a first distance parameter, a first azimuth angle, and a first elevation angle between the Bluetooth signal transmitting device and the target terminal. The second measurement parameter includes a second distance parameter, a second azimuth angle, and a second elevation angle between the visible light signal transmitting device and the target terminal.

[0250] The location determination module 640 includes a first calculation unit, a second calculation unit, and a third calculation unit.

[0251] The first calculation unit is used to determine the first estimated location information of the target terminal using the corrected first measurement parameter.

[0252] The second calculation unit is used to determine the second estimated location information of the target terminal by using the corrected second measurement parameter.

[0253] The third calculation unit is used to determine the two-dimensional position information of the target terminal based on the first estimated position information and the second estimated position information.

[0254] Here, θ′1 represents the corrected first azimuth angle, and θ′2 represents the corrected second azimuth angle.

[0255] The first estimated position information (x1, y1) satisfies the formula:

[0256]

[0257] Wherein, r′1 represents the corrected first distance parameter, and e′1 represents the corrected first elevation angle.

[0258] The second estimated position information (x2, y2) satisfies the formula:

[0259]

[0260] Wherein, r′2 represents the corrected second distance parameter, and e′2 represents the corrected second elevation angle.

[0261] In some embodiments of the present application, the sum of the number of Bluetooth signal transmitting devices and the number of visible light signal transmitting devices is equal to 2.

[0262] The calculation formula for two-dimensional position information (x, y) includes:

[0263]

[0264] In some embodiments of the present application, the sum of the number of Bluetooth signal transmitting devices and the number of visible light signal transmitting devices is greater than 2.

[0265] The third computing unit is specifically used for:

[0266] Based on at least one Bluetooth signal transmitting device and at least one visible light signal transmitting device, a plurality of groups of positioning subsystems are determined, wherein each group of positioning subsystems includes one Bluetooth signal transmitting device and one visible light signal transmitting device.

[0267] For each group of positioning subsystems, perform the following steps:

[0268] Determine reference position information using the first estimated position information of the Bluetooth signal transmitting device in each group and the second estimated position information of the visible light signal transmitting device in each group;

[0269] Determine a weight value of the reference position information based on a first distance parameter of the Bluetooth signal transmitting device in each group and a second distance parameter of the visible light signal transmitting device in each group;

[0270] Calculate the product of the reference position information and the weight value to obtain the weighted result of the reference position information of each group of positioning subsystems;

[0271] Calculate the average value of the weighted results of the reference position information of multiple groups of positioning subsystems to obtain the two-dimensional position information of the target terminal.

[0272] The calculation formula of the reference position information (x, y) includes:

[0273]

[0274] In some embodiments of the present application, the location information of the target terminal is three-dimensional location information. The first measurement parameter includes a first elevation angle, a first azimuth angle, and a first distance parameter between the Bluetooth signal transmitting device and the target terminal. The second measurement parameter includes a second elevation angle, a second azimuth angle, and a second distance parameter between the visible light signal transmitting device and the target terminal.

[0275] The location determination module 640 is specifically used for:

[0276] Determining third estimated location information of the target terminal using the corrected first measurement parameter;

[0277] Determining fourth estimated location information of the target terminal using the corrected second measurement parameter;

[0278] Determine a first weight of the third estimated position information based on the first distance parameter, and determine a second weight of the third estimated position information based on the positioning deviation data of the Bluetooth signal transmitting device;

[0279] Determine a third weight of the fourth estimated position information based on the second distance parameter, and determine a fourth weight of the third estimated position information based on the positioning deviation data of the visible light signal transmitting device;

[0280] The third estimated location information, the first weight, and the second weight are weighted and summed to obtain the location information of the target terminal;

[0281] The third estimated position information satisfies the following calculation formula:

[0282]

[0283] Where r′1 is the corrected first distance parameter, e′1 is the corrected first elevation angle, and θ′1 is the corrected first azimuth angle;

[0284] The fourth estimated position information satisfies the following calculation formula:

[0285]

[0286] Wherein, r′2 is the corrected second distance parameter, e′2 is the corrected second elevation angle, and θ′2 is the corrected second azimuth angle.

[0287] According to the Bluetooth and visible light fusion positioning device of the embodiment of the present application, the first measurement parameter, the second measurement parameter and the positioning deviation parameter can be obtained. Since the positioning deviation parameter includes the positioning deviation data of the Bluetooth signal transmitting device and the positioning deviation data of the visible light signal transmitting device, the first measurement parameter representing the relative position of the Bluetooth signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the Bluetooth signal transmitting device and the target terminal can be obtained. In addition, the second measurement parameter representing the relative position of the visible light signal transmitting device and the target terminal is corrected using the positioning deviation parameter, and the true relative position between the visible light signal transmitting device and the target terminal can be obtained. Therefore, the Bluetooth and visible light fusion positioning solution provided in the embodiment of the present application can accurately calculate the location information of the target terminal using the corrected first measurement parameter and the corrected second measurement parameter, thereby improving the positioning accuracy.

[0288] According to other details of the Bluetooth and visible light fusion positioning device of the embodiment of the present application, combined with the above Figures 2 to 5 The Bluetooth and visible light fusion positioning methods described in the example shown are similar and can achieve the corresponding technical effects. For the sake of brevity, they will not be repeated here.

[0289] In addition, an embodiment of the present application also provides a fusion positioning system, which can be used for precise indoor positioning in scenarios with Bluetooth and visible light coverage.

[0290] Among them, the logical hierarchical design relationship of the fusion positioning system is shown in Table 1.

[0291] Table 1 System logic level design

[0292]

[0293] As shown in Table 1, the fusion positioning system is mainly composed of the application layer, operation layer, data layer and terminal layer. First, the application layer mainly includes functional components such as indoor navigation and asset positioning. The operation layer mainly includes the positioning engine, which can realize the functions of BLE / VLC AOA solution, RSSI distance solution, system deviation solution and fusion position solution. The data layer mainly has the data processing functions of image data, I / Q data, and BLE / VLC field strength data. The terminal layer mainly includes BLE locators, LED lamps, BLE positioning beacons and mobile terminals.

[0294] Specifically, the terminal collects image data, I / Q data and BLE / VLC field strength data, and then transmits the data to the positioning engine of the operation layer, analyzes the BLE / VLC AOA parameters, and then performs distance analysis on the RSSI data to obtain the distance value; performs system deviation correction on the obtained AOA and RSSI parameters to obtain the system deviation correction value of BLE / VLC, corrects the above parameters, and then combines the AOA / RSSI parameters to perform position solution to obtain the final precise position value.

[0295] also, Figure 7 is a system architecture diagram of an exemplary fusion positioning system provided in an embodiment of the present application. Figure 7 As shown, the fusion positioning system is mainly composed of a software foreground 710, a software solution background 720 and a database 730. Among them, the software foreground 710 is mainly used for various program calls, function configuration, data configuration interaction and graphic display functions. The software background 720 is responsible for the collection, processing and position solution of positioning data.

[0296] Specifically, Table 2 shows the specific functions of the software foreground 710.

[0297] Table 2 Software Front Desk

[0298]

[0299] Specifically, Table 3 shows the specific functions of the software background 710.

[0300] Table 3 Software background

[0301]

[0302] Specifically, Table 4 shows the specific functions of the database 730 .

[0303] Table 4 Database

[0304]

[0305] Figure 8 It is a structural diagram of an exemplary hardware architecture of a Bluetooth and visible light fusion positioning device in an embodiment of the present application.

[0306] like Figure 8As shown, the Bluetooth and visible light fusion positioning device 800 includes an input device 801, an input interface 802, a central processor 803, a memory 804, an output interface 805, and an output device 806. The input interface 802, the central processor 803, the memory 804, and the output interface 805 are connected to each other through a bus 810, and the input device 801 and the output device 806 are connected to the bus 810 through the input interface 802 and the output interface 805, respectively, and then connected to other components of the Bluetooth and visible light fusion positioning device 800.

[0307] Specifically, the input device 801 receives input information from the outside and transmits the input information to the central processing unit 803 through the input interface 802; the central processing unit 803 processes the input information based on the computer executable instructions stored in the memory 804 to generate output information, temporarily or permanently stores the output information in the memory 804, and then transmits the output information to the output device 806 through the output interface 805; the output device 806 outputs the output information to the outside of the Bluetooth and visible light fusion positioning device 800 for user use.

[0308] That is to say, Figure 8 The Bluetooth and visible light fusion positioning device shown can also be implemented as comprising: a memory storing computer executable instructions; and a processor, which can realize the combination of the Bluetooth and visible light fusion positioning device when executing the computer executable instructions. Figure 1 to Figure 2 A method and apparatus for fusion positioning of a Bluetooth and visible light device is described.

[0309] In one embodiment, Figure 8 The Bluetooth and visible light fusion positioning device 800 shown can be implemented as a device, which may include: a memory for storing programs; a processor for running the programs stored in the memory to execute the Bluetooth and visible light fusion positioning method of the embodiment of the present application.

[0310] The embodiment of the present application also provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the Bluetooth and visible light fusion positioning method of the embodiment of the present application is implemented.

[0311] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0312] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc. In one embodiment of the present application, a computer-readable storage medium refers to a non-transient readable medium.

[0313] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

Claims

1. A Bluetooth and visible light fusion positioning method, characterized in that: The method comprises: Acquire a first measurement parameter, and acquire a second measurement parameter, wherein the first measurement parameter represents a relative position between a Bluetooth signal transmitting device and a target terminal, and the second measurement parameter represents a relative position between a visible light signal transmitting device and the target terminal; Acquire positioning deviation parameters, wherein the positioning deviation parameters include positioning deviation data of the Bluetooth signal transmitting device and positioning deviation data of the visible light signal transmitting device; Using the positioning deviation parameter to respectively correct the first measurement parameter and the second measurement parameter; Determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter; The location information of the target terminal is two-dimensional location information, the first measurement parameter includes a first distance parameter, a first azimuth angle, and a first elevation angle between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter includes a second distance parameter, a second azimuth angle, and a second elevation angle between the visible light signal transmitting device and the target terminal; The determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter includes: Determining first estimated location information of the target terminal using the corrected first measurement parameter; Determining second estimated location information of the target terminal using the corrected second measurement parameter; Determining the two-dimensional location information of the target terminal based on the first estimated location information and the second estimated location information; Among them, θ1 ′ represents the corrected first azimuth, and θ2 ′ represents the corrected second azimuth, The first estimated position information (x1, y1) satisfies the formula: Among them, r1 ′ Represents the corrected first distance parameter, e1 ′ represents the corrected first elevation angle; The second estimated position information (x2, y2) satisfies the formula: Among them, r2 ′ Represents the corrected second distance parameter, e2 ′ represents the corrected second elevation angle; The sum of the number of the Bluetooth signal transmitting devices and the number of the visible light signal transmitting devices is equal to 2, The calculation formula of the two-dimensional position information (x, y) includes:

2. The method according to claim 1, characterized in that The obtaining of the positioning deviation parameter includes: Acquire first measurement parameters and second measurement parameters at multiple moments; The positioning deviation parameter is calculated based on the first measurement parameters and the second measurement parameters at the multiple moments.

3. The method according to claim 1, characterized in that The positioning deviation parameter is calculated using the generalized least squares method.

4. The method according to claim 1, characterized in that The first measurement parameter includes a first elevation angle and a first azimuth angle between the Bluetooth signal transmitting device and the target terminal, The obtaining of the first measurement parameter comprises: Transmit Bluetooth signals; Obtaining a phase difference when the Bluetooth signal reaches multiple receiving antennas of the Bluetooth signal transmitting device, and a distance between the multiple receiving antennas; Based on the phase difference and the distance, the first elevation angle and the first azimuth angle are determined.

5. The method according to claim 1 or claim 4, characterized in that: The first measurement parameter includes a first distance parameter between the Bluetooth signal transmitting device and the target terminal. The obtaining of the first measurement parameter comprises: Receiving a Bluetooth signal transmitted by the Bluetooth signal transmitting device; Determining a strength value of a received Bluetooth signal; Based on the corresponding relationship between the Bluetooth signal strength and the transmission distance, the distance parameter corresponding to the strength value is determined.

6. The method according to claim 1, characterized in that The second measurement parameter includes a second elevation angle and a second azimuth angle between the visible light signal transmitting device and the target terminal, The obtaining of the second measurement parameter comprises: Receiving the visible light signal emitted by the visible light signal emitting device; Determining imaging position information of the visible light signal on an image sensor; Based on the imaging position information, the second elevation angle and the second azimuth angle are determined.

7. The method according to claim 1 or claim 6, characterized in that: The second measurement parameter includes a second distance parameter between the visible light signal transmitting device and the target terminal. The obtaining of the second measurement parameter comprises: Receiving the visible light signal emitted by the visible light signal emitting device; The second distance parameter is determined using a Lambertian model.

8. The method according to claim 1, characterized in that: The sum of the number of the Bluetooth signal transmitting devices and the number of the visible light signal transmitting devices is greater than 2, The determining, based on the first estimated location information and the second estimated location information, the two-dimensional location information of the target terminal includes: Based on at least one Bluetooth signal transmitting device and at least one visible light signal transmitting device, determining multiple groups of positioning subsystems, wherein each group of positioning subsystems includes one Bluetooth signal transmitting device and one visible light signal transmitting device; For each group of positioning subsystems, perform the following steps: Determine reference position information using the first estimated position information of the Bluetooth signal transmitting device in each group and the second estimated position information of the visible light signal transmitting device in each group; Determining a weight value of the reference position information based on a first distance parameter of the Bluetooth signal transmitting device in each group and a second distance parameter of the visible light signal transmitting device in each group; Calculating the product of the reference position information and the weight value to obtain a weighted result of the reference position information of each group of positioning subsystems; Calculate the average value of the weighted results of the reference position information of multiple groups of positioning subsystems to obtain the two-dimensional position information of the target terminal, The calculation formula of the reference position information (x, y) includes:

9. The method according to claim 1, characterized in that: The location information of the target terminal is three-dimensional location information, the first measurement parameter includes a first elevation angle, a first azimuth angle, and a first distance parameter between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter includes a second elevation angle, a second azimuth angle, and a second distance parameter between the visible light signal transmitting device and the target terminal. The determining the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter includes: Determining third estimated location information of the target terminal using the corrected first measurement parameter; Determining fourth estimated location information of the target terminal using the corrected second measurement parameter; Determine a first weight of the third estimated position information based on the first distance parameter, and determine a second weight of the third estimated position information based on the positioning deviation data of the Bluetooth signal transmitting device; Determine a third weight of the fourth estimated position information based on the second distance parameter, and determine a fourth weight of the third estimated position information based on the positioning deviation data of the visible light signal transmitting device; Taking a weighted sum of the third estimated location information, the first weight, and the second weight to obtain the location information of the target terminal; The third estimated position information satisfies the following calculation formula: In the formula, r1 ′ is the first distance parameter after correction, e1 ′ is the first elevation angle after correction, θ1 ′ is the corrected first azimuth; The fourth estimated position information satisfies the following calculation formula: In the formula, r2 ′ is the corrected second distance parameter, e2 ′ is the corrected second elevation angle, θ2 ′ is the corrected second azimuth.

10. A Bluetooth and visible light fusion positioning device, characterized in that: The device comprises: A first parameter acquisition module, used to acquire a first measurement parameter and a second measurement parameter, wherein the first measurement parameter represents a relative position between a Bluetooth signal transmitting device and a target terminal, and the second measurement parameter represents a relative position between a visible light signal transmitting device and the target terminal; A second parameter acquisition module, used to acquire a positioning deviation parameter, wherein the positioning deviation parameter includes positioning deviation data of the Bluetooth signal transmitting device and positioning deviation data of the visible light signal transmitting device; A parameter correction module, used to correct the first measurement parameter and the second measurement parameter respectively using the positioning deviation parameter; A location determination module, configured to determine the location information of the target terminal based on the corrected first measurement parameter and the corrected second measurement parameter, wherein the location information of the target terminal is two-dimensional location information, the first measurement parameter includes a first distance parameter, a first azimuth angle, and a first elevation angle between the Bluetooth signal transmitting device and the target terminal, and the second measurement parameter includes a second distance parameter, a second azimuth angle, and a second elevation angle between the visible light signal transmitting device and the target terminal; The location determination module is further configured to determine the first estimated location information of the target terminal using the corrected first measurement parameter; Determining second estimated location information of the target terminal using the corrected second measurement parameter; Determining the two-dimensional location information of the target terminal based on the first estimated location information and the second estimated location information; Among them, θ1 ′ represents the corrected first azimuth, and θ2 ′ represents the corrected second azimuth, The first estimated position information (x1, y1) satisfies the formula: Among them, r1 ′ Represents the corrected first distance parameter, e1 ′ represents the corrected first elevation angle; The second estimated position information (x2, y2) satisfies the formula: Among them, r2 ′ Represents the corrected second distance parameter, e2 ′ represents the corrected second elevation angle; The location determination module is also used when the sum of the number of the Bluetooth signal transmitting devices and the number of the visible light signal transmitting devices is equal to 2. The calculation formula of the two-dimensional position information (x, y) includes:

11. A Bluetooth and visible light fusion positioning system, characterized in that: The device comprises: Bluetooth signal transmitting device; Visible light signal transmitting device; A target terminal is used to execute the steps of the Bluetooth and visible light fusion positioning method described in any one of claims 1 to 9.

12. A Bluetooth and visible light fusion positioning device, characterized in that: The device comprises: Memory, used to store programs; A processor, used to run the program stored in the memory to execute the Bluetooth and visible light fusion positioning method described in any one of claims 1 to 9.

13. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the Bluetooth and visible light fusion positioning method described in any one of claims 1 to 9 is implemented.

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