Device positioning method, device, terminal and medium based on Bluetooth signal propagation model

Abstract

The present invention provides a device positioning method, apparatus, terminal and medium based on a Bluetooth signal propagation model, including: obtaining reported data of a device to be positioned; searching for a Bluetooth signal propagation model according to the physical address data of the scanned device in the reported data; obtaining a joint probability distribution according to the Bluetooth signal propagation model, the orientation angle data in the reported data, and the signal strength data of the scanned device in the reported data, so as to obtain the position of the device to be positioned. The present invention compensates for satellite positioning by constructing a Bluetooth signal propagation model, thereby providing another important supplementary positioning solution in addition to satellite positioning, base station positioning and Wi-Fi positioning.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a device positioning method, device, terminal and medium based on a Bluetooth signal propagation model. Background Art

[0002] With the development of Internet technology, shared vehicles have emerged in large and medium-sized cities across the country and can be seen almost everywhere. Compared with "stationed" public bicycles, these "stationless" shared vehicles that can be used and parked at any time have brought great convenience to users.

[0003] Generally, shared vehicles use satellite positioning technology to achieve positioning, but satellite positioning technology consumes a lot of power when used for positioning, and can only be used for positioning outdoors. If the vehicle is blocked, it will not be able to be positioned. Therefore, base station and Wi-Fi positioning are good supplementary positioning technologies. However, the accuracy of base station and Wi-Fi positioning is relatively poor, and there may even be errors of hundreds of meters to kilometers.

[0004] At present, in addition to the above two common wireless positioning technologies, installing Bluetooth road studs for positioning in the shared travel industry is also a gradually mainstream solution. As many parties in society have installed Bluetooth road studs in various places, how to make good use of the signals of the increasingly large number of Bluetooth road studs for positioning is a very important issue in shared travel. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the existing satellite positioning has a large error.

[0006] To achieve the above-mentioned objectives, the present invention provides a device positioning method based on a Bluetooth signal propagation model, including: obtaining reported data of a device to be positioned; searching for a Bluetooth signal propagation model based on physical address data of a scanned device in the reported data; and obtaining a joint probability distribution based on the Bluetooth signal propagation model, orientation angle data in the reported data, and signal strength data of the scanned device in the reported data to obtain the position of the device to be positioned.

[0007] In a preferred embodiment of the present invention, the process of constructing the Bluetooth signal propagation model includes: using the physical address data of the scanned device as the search field to search the satellite positioning data, orientation angle data and signal strength data of the device to be located in the Bluetooth fingerprint library to form Bluetooth sampling data; using the Bluetooth sampling data as model features, and constructing the Bluetooth signal propagation model based on a Gaussian fitting algorithm.

[0008] In another preferred embodiment of the present invention, the Bluetooth signal propagation model is constructed based on the Gaussian fitting algorithm, including: taking the physical address data of the scanned device as the key value, aggregating all Bluetooth sampling data containing the physical address of the scanned device to obtain a sampling set; inputting the sampling set into a four-dimensional Gaussian probability distribution model to obtain the Bluetooth signal propagation model.

[0009] In another preferred embodiment of the present invention, it also includes: before constructing the Bluetooth signal propagation model, the Bluetooth sampling data is quality screened, including eliminating abnormal sampling data and / or low-quality sampling data.

[0010] In another preferred embodiment of the present invention, the elimination of abnormal sampling data and / or low-quality sampling data includes: setting a satellite search number filtering threshold or a satellite positioning accuracy strength filtering threshold, and eliminating sampling data that does not meet the satellite search number filtering threshold or the satellite positioning accuracy strength filtering threshold.

[0011] In another preferred embodiment of the present invention, the Bluetooth fingerprint library includes a database constructed based on the collected Bluetooth fingerprint data of the scanned devices inside / outside the electronic fence.

[0012] In another preferred embodiment of the present invention, obtaining the joint probability distribution to obtain the position of the device to be located includes: using an optimization algorithm to obtain the maximum joint probability value in the joint probability distribution, and the maximum joint probability value corresponds to the position of the device to be located.

[0013] To achieve the above-mentioned purpose, the present invention provides a device positioning device based on a Bluetooth signal propagation model, including: a data acquisition module, used to obtain reported data of a device to be positioned; a model search module, used to search for a Bluetooth signal propagation model according to physical address data of a scanned device in the reported data; a Bluetooth positioning module, used to obtain a joint probability distribution according to the Bluetooth signal propagation model, orientation angle data in the reported data, and signal strength data of the scanned device in the reported data, so as to obtain the position of the device to be positioned.

[0014] To achieve the above-mentioned object, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the device positioning method based on the Bluetooth signal propagation model is implemented.

[0015] To achieve the above-mentioned purpose, the present invention provides a device positioning terminal, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the device positioning method based on the Bluetooth signal propagation model.

[0016] The device positioning method, apparatus, terminal and medium based on the Bluetooth signal propagation model provided by the present invention have the following technical effects: without knowing the installation location of the Bluetooth broadcasting device in advance, the device satellite positioning information and the device inertial sensor are used to realize the construction of a Bluetooth signal propagation model for the increasingly distributed Bluetooth broadcasting device locations. The present invention compensates for satellite positioning by constructing a Bluetooth signal propagation model, thereby providing another important supplementary positioning solution in addition to satellite positioning, base station positioning and Wi-Fi positioning. The concept, specific structure and technical effects of the present invention will be further explained in conjunction with the accompanying drawings below to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of an optional application scenario for accurately positioning a device based on a Bluetooth signal propagation model in an embodiment of the present invention.

[0018] Figure 2 It is a flow chart of a device positioning method based on a Bluetooth signal propagation model in an embodiment of the present invention.

[0019] Figure 3 It is a structural diagram of a device positioning terminal in an embodiment of the present invention.

[0020] Figure 4 It is a structural schematic diagram of a device positioning apparatus based on a Bluetooth signal propagation model in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0022] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It should be understood that, as used herein, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0023] In view of the problems in the above-mentioned background technology, the purpose of the present invention is to provide a technical solution, which does not require knowing the installation status of the Bluetooth broadcasting device, builds a Bluetooth signal propagation model based on the device satellite positioning information, and uses the Bluetooth signal propagation model to accurately locate the device.

[0024] Before further describing the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are applicable to the following interpretations:

[0025] <1> Electronic fence is a perimeter anti-theft alarm system, which is mainly composed of three parts: electronic fence host, front-end accessories, and back-end control system. Usually, the electronic fence host is installed outdoors along the original fence. The pulse electronic fence host is also usually outdoors. The alarm signal is transmitted to the control keyboard of the back-end control center through the signal transmission equipment, which displays the working status of the defense zone and performs remote deployment and withdrawal control of the external pulse host.

[0026] <2> Bluetooth road studs are a device for determining when a vehicle is entering a road barrier. This device can transmit signals and communicate with the positioning chip installed on the shared equipment to achieve free-standing fixed-point parking of the shared equipment.

[0027] The embodiments of the present invention provide a device positioning method based on a Bluetooth signal propagation model, a system for implementing the device positioning method, and a storage medium storing an executable program for implementing the device positioning method. As far as the implementation of the device positioning method is concerned, the embodiments of the present invention will illustrate an exemplary implementation scenario of device positioning.

[0028] like Figure 1 As shown, a schematic diagram of an optional application scenario for precise positioning of a device based on a Bluetooth signal propagation model in an embodiment of the present invention is shown.

[0029] The application scenario diagram of this embodiment consists of a device to be located 11, an electronic fence 12, a server 14 and a Bluetooth fingerprint library 15. A plurality of Bluetooth broadcasting devices 13 (for example, BLE1, BLE2, BLE3, BLE4, etc. in the figure) are installed in the electronic fence 12. The Bluetooth broadcasting device 13 can adopt a Bluetooth road stud installed with a small button battery. The Bluetooth road stud itself does not have the base station communication capability and is usually installed within the range of the electronic fence where the Bluetooth road stud needs to be installed in urban operations.

[0030] The device to be located 11 can be a shared device that moves with different user usage scenarios, such as shared bicycles, shared power-assisted bicycles or shared cars. Each device to be located 11 is installed with a positioning chip for locating the device, a Bluetooth chip for scanning nearby Bluetooth broadcasting devices, and a communication chip (not shown) for collecting the signal strength of the Bluetooth broadcasting device. Among them, the positioning chip is, for example, a GPS positioning chip, a Beidou satellite positioning chip, a Galileo satellite positioning chip, a GLONASS positioning chip, etc.; the Bluetooth chip is, for example, a low-power Bluetooth chip based on the Internet of Things BLE4.0 / BLE5.0; the communication chip is, for example, a cellular mobile communication chip such as 3G / 4G / 5G, a WI-FI communication chip or a ZigBee communication chip, etc.

[0031] When the device to be located 11 is turned on (for example, scanning a code to unlock), the positioning chip turns on the positioning function, and integrates the positioning longitude and latitude information and the positioning timestamp information according to the preset reporting frequency and reports them to the server 14. Furthermore, the device to be located 11 turns on the Bluetooth chip according to the set scanning frequency to scan the surrounding Bluetooth broadcasting devices, and also reports the scanned Bluetooth fingerprint information to the server 14.

[0032] The server 14 searches the Bluetooth signal propagation model corresponding to each Bluetooth broadcasting device in the Bluetooth database 15 according to the Bluetooth fingerprint information reported by the device to be located 11 and the MAC address of the Bluetooth broadcasting device. When the MAC address of the Bluetooth broadcasting device is scanned, the Bluetooth signal propagation model is used to calculate the spatial probability distribution result of the signal strength under the condition of a given orientation angle, and the maximum probability position information of the device to be located 11 is inferred according to the spatial probability distribution result, thereby supplementing the situation where GPS cannot locate or locates inaccurately, greatly improving the accuracy of positioning.

[0033] The above description of the application scenario is based on shared bicycles as an example, but it is not limited to this and can also be applied to other types of shared devices to supplement the existing satellite positioning technology and achieve more accurate positioning. The following is a further description of the shared device positioning method, a system for implementing the shared device positioning method, and a storage medium storing an executable program for the shared device positioning method.

[0034] like Figure 2 FIG. 1 is a flow chart showing a device positioning method based on a Bluetooth signal propagation model in an embodiment of the present invention.

[0035] Step S21: Acquire the reported data of the device to be located.

[0036] In some examples, the reported data includes satellite positioning data and orientation angle data of the device to be located, and Bluetooth fingerprint data of the scanned device; the Bluetooth fingerprint data includes physical address data and signal strength data.

[0037] It should be noted that the device to be located refers to a device with Bluetooth scanning function, mainly including shared devices, such as shared bicycles, shared power-assisted bicycles or shared cars, etc. The scanned device includes a Bluetooth broadcasting device located within the electronic fence, such as a Bluetooth road stud or an iBeacon device, etc.; wherein an iBeacon is a device equipped with a Bluetooth low energy (BLE) communication function, which uses BLE technology to send its own unique ID to the surroundings.

[0038] In this embodiment, the reported data of the device to be located includes not only the satellite positioning data and the orientation angle data of the device to be located, but also the Bluetooth fingerprint data of one or more scanned devices obtained by scanning the surrounding Bluetooth devices.

[0039] In some examples, the satellite positioning data is collected by a satellite positioning chip installed on the device to be positioned. The satellite positioning data includes but is not limited to longitude and latitude data, GPS PDOP value and satellite search number, etc.; wherein the longitude and latitude data is coordinate data based on a coordinate system composed of longitude and latitude, and the coordinate system is a spherical coordinate system that uses a three-dimensional sphere to define the space on the earth, and can mark any position on the earth; the GPS PDOP value is used to represent the spatial geometric intensity factor of the satellite distribution, and the smaller the value, the better the satellite distribution; the satellite search number represents the number of satellites searched by the positioning system, and generally the more the number of searched satellites, the higher the positioning accuracy.

[0040] Optionally, the satellite positioning chip includes but is not limited to GPS satellite positioning chip, Beidou satellite positioning chip, Galileo satellite positioning chip, GLONASS positioning chip, etc. GPS satellite positioning chip realizes positioning function based on GPS global positioning system, uses navigation satellite to measure time and distance, and has all-round real-time three-dimensional navigation and positioning capabilities in sea, land and air; Beidou satellite positioning chip realizes positioning function based on Beidou global positioning system, and consists of three parts: space segment, ground segment and user segment. It can provide high-precision, high-reliability positioning, navigation, timing and other services for various users around the world all day and all day, and has short message communication capability; Galileo satellite positioning chip realizes positioning function based on GSNS global positioning system, and the system consists of 30 satellites with an orbital altitude of 23616km; GLONASS positioning chip realizes positioning function based on GLONASS global positioning system, and consists of three parts: satellite constellation, ground monitoring and control station and user equipment.

[0041] In some examples, the heading angle data is collected by an inertial sensor installed on the device to be positioned. Usually, when the device to be positioned performs satellite positioning, the inertial sensor on the device will start calculating the heading angle data. The types of inertial sensors include but are not limited to any of the following: accelerometers, angular velocity sensors (gyroscopes), and their single-axis, dual-axis, and three-axis combined IMUs (inertial measurement units), AHRS (attitude reference systems including magnetic sensors).

[0042] In some examples, the Bluetooth fingerprint data includes but is not limited to the MAC address data (physical address data) of the Bluetooth broadcasting device, the SSID data (service set identification data) of the Bluetooth broadcasting device and the corresponding RSSI data (signal strength data), the scanning timestamp data, etc.

[0043] Generally speaking, when the device to be located is performing satellite positioning, the Bluetooth scanning module set on the device scans the surrounding Bluetooth broadcasting devices according to the preset scanning frequency to obtain Bluetooth information. The MAC address data (physical address data) of each Bluetooth broadcasting device, the SSID data (service set identifier data) of the Bluetooth broadcasting device and the corresponding RSSI data (signal strength data), the timestamp data of the scan, etc. form a Bluetooth fingerprint data. Therefore, the reported data transmitted by the device to be located to the server includes both the satellite positioning data and the orientation angle data of the device to be located itself, and the Bluetooth fingerprint data of the scanned device.

[0044] Take a shared bicycle as an example: before the user locks the bicycle, the shared bicycle performs a Bluetooth scan within a timed range. The Bluetooth fingerprint data of the surrounding Bluetooth broadcasting devices that can be collected can be described as follows:

[0045] (MAC_1, RSSI_1; MAC_2, RSSI_2; MAC_i, RSSI_i3; ...; MAC_n, RSSI_n), where 1, 2...n means that n Bluetooth broadcasting devices are collected at the current location, MAC_i represents the mac address of the i-th Bluetooth broadcasting device, and RSSI_i represents the signal strength of the i-th Bluetooth broadcasting device.

[0046] Step S22: searching for a Bluetooth signal propagation model according to the physical address data of the scanned device in the reported data.

[0047] In some examples, the Bluetooth signal propagation model can be searched in a pre-built Bluetooth fingerprint library. The Bluetooth fingerprint library is constructed based on the Bluetooth fingerprint data of Bluetooth broadcasting devices inside and outside the electronic fence collected during the operation and maintenance process; each entry data in the Bluetooth fingerprint library uses the MAC address of the Bluetooth broadcasting device as the ID field, and stores the historical data of the scanning device, including but not limited to satellite positioning data (including latitude and longitude data, GPS PDOP value and satellite search number, etc.), the orientation angle data of the device to be located, the signal strength data of the Bluetooth broadcasting device, etc.

[0048] In some examples, the process of constructing the Bluetooth signal propagation model for each Bluetooth broadcasting device includes:

[0049] First, the MAC address of the Bluetooth broadcasting device is used as the search field to find the corresponding entry data in the Bluetooth fingerprint library, and the satellite positioning data, orientation angle data and signal strength data of the device to be located and the scanned device are extracted to form Bluetooth sampling data.

[0050] Secondly, the Bluetooth sampling data is used as a model feature, and the Bluetooth signal propagation model is constructed based on a Gaussian fitting algorithm.

[0051] Preferably, since the satellite positioning information of the device to be located in the Bluetooth fingerprint data may have abnormal positioning and large positioning errors, the extracted Bluetooth sampling data is quality screened before building the Bluetooth signal propagation model, including removing abnormal sampling data and low-quality sampling data, leaving high-quality sampling data for modeling. Specific quality screening methods include setting a filtering threshold for the number of satellite searches or the GPS PDOP value, and removing Bluetooth fingerprint data that does not meet the filtering threshold and not participating in the modeling, thereby achieving a more accurate Bluetooth signal propagation model.

[0052] In some examples, the Gaussian Fitting algorithm is a fitting algorithm that uses a Gaussian function to approximate a set of data points. The process of constructing a Bluetooth signal propagation model based on the Gaussian Fitting algorithm includes: taking the Bluetooth broadcast device ID as a key value, aggregating all Bluetooth sampling data containing the Bluetooth broadcast device ID to obtain a sampling set; and inputting the sampling set into a four-dimensional Gaussian probability distribution model.

[0053] Specifically, the modeling of the Bluetooth signal propagation model of a Bluetooth broadcasting device has multiple Bluetooth sampling data. Taking a shared vehicle as an example, each Bluetooth sampling data can be recorded in the following format: (Bluetooth broadcasting device ID\Vehicle ID\Vehicle location\Bluetooth broadcasting device signal strength\Vehicle orientation angle). The four-dimensional Gaussian probability distribution model describes the spatial probability distribution of the signal strength sniffed by the Bluetooth broadcasting device under the condition of the vehicle orientation angle when the Bluetooth broadcasting device ID is scanned.

[0054] Step S23: obtaining a joint probability distribution according to the Bluetooth signal propagation model, the orientation angle data in the reported data, and the signal strength data of the scanned device in the reported data, so as to obtain the position of the device to be located.

[0055] The joint probability refers to the probability that multiple random variables meet their respective conditions in a multivariate probability distribution. For example, assuming that both X and Y follow a normal distribution, then P{X<4,Y<0} is a joint probability, which indicates the probability that both X<4,Y<0 are true. In this embodiment, during the device positioning stage, the device to be positioned uploads satellite positioning data, orientation angle data, and Bluetooth fingerprint data, and what is calculated is the joint probability distribution between the satellite positioning data, orientation angle data, signal strength data, and the Bluetooth signal propagation model currently uploaded by the device to be positioned.

[0056] In some examples, the step of obtaining the joint probability distribution to obtain the position of the device to be located includes: obtaining the maximum joint probability value in the joint probability distribution using an optimization algorithm, wherein the maximum joint probability value corresponds to the position of the device to be located. Further, the step of obtaining the maximum joint probability value using the optimization algorithm includes: obtaining the maximum joint probability value using a gradient ascent method. The gradient ascent method is a type of iterative method, which obtains the maximum joint probability value and its corresponding position by continuously iterating to solve the maximum value of the loss function.

[0057] The device positioning method based on the Bluetooth signal propagation model provided in this embodiment can obtain Bluetooth positioning results that can effectively supplement the situation where the shared device cannot perform satellite positioning or the satellite positioning error is large, and become another wireless positioning technology means that can build a database for positioning after base station and Wi-Fi positioning technology, which greatly reduces the positioning error.

[0058] The device positioning method provided in the embodiment of the present invention can be implemented on the terminal side or the server side. As for the hardware structure of the device positioning terminal, please refer to Figure 3 , is an optional hardware structure diagram of the device positioning terminal 300 provided in an embodiment of the present invention. The terminal 300 can be a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc. The device positioning terminal 300 includes: at least one processor 301, a memory 302, at least one network interface 304 and a user interface 306. The various components in the device are coupled together through a bus system 305. It can be understood that the bus system 305 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 305 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 3 In the specification, various buses are labeled as bus systems.

[0059] The user interface 306 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0060] It is understood that the memory 302 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable categories of memory.

[0061] The memory 302 in the embodiment of the present invention is used to store various types of data to support the operation of the device positioning terminal 300. Examples of these data include: any executable program used to operate on the device positioning terminal 300, such as an operating system 3021 and an application 3022; the operating system 3021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 3022 can include various applications, such as a media player (MediaPlayer), a browser (Browser), etc., for implementing various application services. The device positioning method provided in the embodiment of the present invention can be included in the application 3022.

[0062] The method disclosed in the above embodiment of the present invention can be applied to the processor 301, or implemented by the processor 301. The processor 301 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 301 or the instruction in the form of software. The above processor 301 may be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 301 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor 301 can be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0063] In an exemplary embodiment, the device positioning terminal 300 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0064] like Figure 4 , which shows a schematic diagram of the structure of a device positioning apparatus based on a Bluetooth signal propagation model in an embodiment of the present invention. The device positioning apparatus 400 includes a data acquisition module 401 , a model search module 402 and a Bluetooth positioning module 403 .

[0065] The data acquisition module 401 is used to acquire the reported data of the device to be located, wherein the reported data includes the satellite positioning data and the orientation angle data of the device to be located, and the Bluetooth fingerprint data of the scanned device; the Bluetooth fingerprint data includes the physical address data and the signal strength data.

[0066] The model search module 402 is used to search for a Bluetooth signal propagation model according to the physical address data of the scanned device in the reported data.

[0067] In some examples, the process of constructing the Bluetooth signal propagation model includes: using the physical address data as the search field to search for corresponding entry data in the Bluetooth fingerprint library, and extracting the satellite positioning data, orientation angle data and signal strength data of the device to be located and the scanned device to form Bluetooth sampling data; using the Bluetooth sampling data as model features, and constructing the Bluetooth signal propagation model based on a Gaussian fitting algorithm.

[0068] In some examples, the Bluetooth signal propagation model is constructed based on the Gaussian fitting algorithm, including: taking the physical address data of the scanned device as the key value, aggregating all Bluetooth sampling data containing the physical address of the scanned device to obtain a sampling set; inputting the sampling set into a four-dimensional Gaussian probability distribution model to obtain the Bluetooth signal propagation model.

[0069] In some examples, quality screening is performed on Bluetooth sampled data before building the Bluetooth signal propagation model, including removing abnormal sampled data and / or low-quality sampled data.

[0070] In some examples, the method of eliminating abnormal sampling data and / or low-quality sampling data includes: setting a satellite search number filtering threshold or a satellite positioning accuracy strength filtering threshold, and eliminating sampling data that does not meet the satellite search number filtering threshold or the satellite positioning accuracy strength filtering threshold.

[0071] In some examples, the Bluetooth fingerprint library includes: a database constructed based on the Bluetooth fingerprint data of scanned devices inside / outside the electronic fence collected during the operation and maintenance process; each entry data stored in the Bluetooth fingerprint library uses the physical address of the scanned device as the numbering field, and corresponds to the storage of one or more data collected by the scanning devices in the past scanning process, including the satellite positioning data and orientation angle data of the scanning device and the signal strength data of the scanned device.

[0072] The Bluetooth positioning module 403 is used to obtain a joint probability distribution according to the Bluetooth signal propagation model, the orientation angle data in the reported data, and the signal strength data of the scanned device in the reported data, so as to obtain the position of the device to be located.

[0073] In some examples, obtaining the joint probability distribution to obtain the position of the device to be located includes: using an optimization algorithm to obtain a maximum joint probability value in the joint probability distribution, and the maximum joint probability value corresponds to the position of the device to be located.

[0074] It should be noted that: the device positioning device provided in the above embodiment only uses the division of the above program modules as an example when performing device positioning. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the image classification device provided in the above embodiment and the image classification method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0075] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the device positioning method based on the Bluetooth signal propagation model is implemented.

[0076] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0077] In the embodiments provided by the present invention, the computer readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a magnetic disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store the desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instruction is sent from a website, a server or other remote source using a coaxial cable, an optical fiber cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, optical fiber cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carriers, signals, or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0078] In summary, the present invention provides a device positioning method, apparatus, terminal and medium based on a Bluetooth signal propagation model. Without knowing the installation location of the Bluetooth broadcasting device in advance, the device satellite positioning information and the device inertial sensor are used to realize the construction of a Bluetooth signal propagation model for the increasingly distributed Bluetooth broadcasting device locations. The present invention compensates for satellite positioning by constructing a Bluetooth signal propagation model, thereby providing another important supplementary positioning solution in addition to satellite positioning, base station positioning and Wi-Fi positioning.

[0079] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A device positioning method based on a Bluetooth signal propagation model, characterized in that: include: Obtain the reported data of the device to be located; Searching for a Bluetooth signal propagation model according to the physical address data of the scanned device in the reported data; According to the Bluetooth signal propagation model, the orientation angle data in the reported data, and the signal strength data of the scanned device in the reported data, a joint probability distribution is obtained to obtain the position of the device to be located, The method of obtaining the joint probability distribution to obtain the position of the device to be located includes: using a gradient ascent method to obtain a maximum joint probability value in the joint probability distribution, the maximum joint probability value corresponding to the position of the device to be located, wherein the gradient ascent method continuously iterates to solve the maximum value of the loss function, thereby obtaining the maximum joint probability value.

2. The device positioning method based on the Bluetooth signal propagation model according to claim 1, characterized in that: The construction process of the Bluetooth signal propagation model includes: Using the physical address data of the scanned device as a search field, searching the Bluetooth fingerprint library for the satellite positioning data, the orientation angle data and the signal strength data of the device to be located to form Bluetooth sampling data; The Bluetooth sampling data is used as a model feature, and the Bluetooth signal propagation model is constructed based on a Gaussian fitting algorithm.

3. The device positioning method based on the Bluetooth signal propagation model according to claim 2, characterized in that: The constructing of the Bluetooth signal propagation model based on the Gaussian fitting algorithm includes: The physical address data of the scanned device is used as a key value, and the Bluetooth sampling data including the physical address of the scanned device is aggregated to obtain a sampling set; the sampling set is input into a four-dimensional Gaussian probability distribution model to obtain the Bluetooth signal propagation model.

4. The device positioning method based on the Bluetooth signal propagation model according to claim 2, characterized in that: Also includes: Before constructing the Bluetooth signal propagation model, the Bluetooth sampled data is subjected to quality screening, including eliminating abnormal sampled data and / or low-quality sampled data.

5. The device positioning method based on the Bluetooth signal propagation model as claimed in claim 4, characterized in that: The removal of abnormal sampling data and / or low-quality sampling data includes: setting a satellite search number filtering threshold or a satellite positioning accuracy strength filtering threshold, and removing sampling data that does not meet the satellite search number filtering threshold or the satellite positioning accuracy strength filtering threshold.

6. The device positioning method based on the Bluetooth signal propagation model as claimed in claim 2, characterized in that: The Bluetooth fingerprint library includes: a database constructed according to the collected Bluetooth fingerprint data of the scanned devices inside / outside the electronic fence.

7. A device positioning device based on a Bluetooth signal propagation model, characterized in that: include: A data acquisition module, used to acquire the reported data of the device to be located; A model search module, used to search for a Bluetooth signal propagation model according to the physical address data of the scanned device in the reported data; A Bluetooth positioning module is used to obtain a joint probability distribution based on the Bluetooth signal propagation model, the orientation angle data in the reported data, and the signal strength data of the scanned device in the reported data to obtain the position of the device to be located. The method of obtaining the joint probability distribution to obtain the position of the device to be located includes: using a gradient ascent method to obtain a maximum joint probability value in the joint probability distribution, the maximum joint probability value corresponding to the position of the device to be located, wherein the gradient ascent method continuously iterates to solve the maximum value of the loss function, thereby obtaining the maximum joint probability value.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the device positioning method based on the Bluetooth signal propagation model described in any one of claims 1 to 6 is implemented.

9. A device positioning terminal, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the device positioning terminal executes the device positioning method based on the Bluetooth signal propagation model as claimed in any one of claims 1 to 6.

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