Indoor positioning method, device, electronic equipment and storage medium

Abstract

The present invention provides an indoor positioning method, device, electronic device and storage medium, which directly locates the target terminal device through the Bluetooth communication data between the terminal devices distributed in a cluster in the target building where the target terminal device is located, without introducing Bluetooth beacons on the target terminal device, thus saving positioning costs. Moreover, since there is no need to introduce Bluetooth beacons, there is no need to operate and maintain the Bluetooth beacons, which reduces the cost of later operation and maintenance and makes operation and maintenance more convenient.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to an indoor positioning method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, with the rapid development of mobile Internet, data and multimedia services have increased rapidly, and people's demand for indoor positioning has increased day by day. In urban life, achieving low-cost, high-precision indoor positioning has important practical significance. For example, in shopping malls and supermarkets, by obtaining consumers' personal location information and target product location information, route guidance can be provided to improve users' shopping experience; in hospitals, indoor navigation can be used to guide routes or locate medical staff or patients, so that patients can receive treatment faster.

[0003] In the field of indoor positioning for ordinary users, the main positioning object is the user's mobile phone, so the most common positioning technology is Bluetooth positioning technology. The hardware equipment of Bluetooth positioning technology includes the Bluetooth receiving module in the user's mobile phone, the Bluetooth transmitting module (also called Bluetooth beacon / iBeacon) deployed in the indoor environment, the Bluetooth gateway (also called Bluetooth antenna) responsible for collecting and reporting Bluetooth transmitting module information, and the background positioning server that analyzes the data.

[0004] The existing Bluetooth indoor positioning solution requires the deployment of Bluetooth transmitter modules in the indoor environment in advance, and combines the indoor map data to determine the location of each Bluetooth transmitter module, and then calculate the location of the positioning object. The deployment of a large number of Bluetooth transmitter modules will increase the cost of indoor positioning. Moreover, since most of the existing Bluetooth transmitter modules are powered by built-in batteries, as the indoor positioning project runs for a long time, the battery will inevitably run out of power and need to be replaced, resulting in cumbersome and complicated later operation and maintenance. Summary of the invention

[0005] The present invention provides an indoor positioning method, device, electronic equipment and storage medium to solve the defects in the prior art.

[0006] The present invention provides an indoor positioning method, comprising:

[0007] Obtaining a location request of a target terminal device in a target building;

[0008] Determine distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determine a topological structure of each terminal device based on the distance information;

[0009] Based on the topological structure and the environmental information of each floor in the target building, the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor are determined.

[0010] According to an indoor positioning method provided by the present invention, the Bluetooth communication data includes received signal strength information and model information of the terminal device;

[0011] Accordingly, the determining of the distance information between the terminal devices based on the Bluetooth communication data between the terminal devices distributed in clusters in the target building specifically includes:

[0012] Based on the received signal strength information between the terminal devices, the model information of the terminal devices and the preset signal strength distance attenuation relationship model between the terminal devices of each model information, the distance information between the terminal devices is determined.

[0013] According to an indoor positioning method provided by the present invention, the preset signal strength distance attenuation relationship model is specifically determined by the following method:

[0014] Get terminal equipment samples with information of various models;

[0015] Perform Bluetooth communication between each two terminal device samples, and adjust the distance between each two terminal device samples to obtain received signal strength information corresponding to different distances;

[0016] Based on the received signal strength information corresponding to different distances, the signal strength distance attenuation relationship between each two terminal device samples is determined, and combined with the model information of each two terminal device samples, the preset signal strength distance attenuation relationship model is determined.

[0017] According to an indoor positioning method provided by the present invention, the environmental information includes environmental structure information; accordingly,

[0018] The determining, based on the topological structure and the environmental information of each floor in the target building, the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor specifically includes:

[0019] The topological structure is matched with the environmental structure information of each floor to determine the target floor, and based on the environmental structure information of the target floor and the topological structure, the location information of the target terminal device on the target floor is determined.

[0020] According to an indoor positioning method provided by the present invention, determining the location information of the target terminal device on the target floor based on the environmental structure information and the topological structure of the target floor specifically includes:

[0021] Based on the environmental structure information of the target floor, a calibration terminal device of the target floor is selected, and the position information of the calibration terminal device is used as the origin coordinate;

[0022] Based on the origin coordinates and the topological structure, the location information of the target terminal device on the target floor is determined.

[0023] According to an indoor positioning method provided by the present invention, determining the topological structure of each terminal device based on the distance information specifically includes:

[0024] Based on the distance information, determining the relative position relationship between each terminal device and other terminal devices;

[0025] Based on the relative position relationship, the topological structure is determined.

[0026] According to an indoor positioning method provided by the present invention, the Bluetooth communication data also includes identification information of the terminal device.

[0027] The present invention also provides an indoor positioning device, comprising:

[0028] An acquisition module, used to obtain a positioning request of a target terminal device in a target building;

[0029] A determination module, configured to determine distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determine a topological structure of each terminal device based on the distance information;

[0030] A positioning module is used to determine the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building.

[0031] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the indoor positioning methods described above when executing the computer program.

[0032] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the indoor positioning methods described above are implemented.

[0033] The indoor positioning method, device, electronic device and storage medium provided by the present invention first obtain a positioning request of a target terminal device in a target building; then, based on the Bluetooth communication data between the terminal devices in the target building that are distributed in a cluster and contain the target terminal device, determine the distance information between the terminal devices, and based on the distance information, determine the topological structure of each terminal device; finally, based on the topological structure and the environmental information of each floor in the target building, determine the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor. Positioning is performed directly through the Bluetooth communication data between the terminal devices in the cluster distribution in the target building where the target terminal device is located, without the need to introduce Bluetooth beacons on the target terminal device, which can save positioning costs. Moreover, since there is no need to introduce Bluetooth beacons, and thus there is no need to operate and maintain Bluetooth beacons, the cost of later operation and maintenance is reduced, making operation and maintenance more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a flow chart of the indoor positioning method provided by the present invention;

[0036] Figure 2 It is a schematic diagram of the corresponding relationship included in the preset signal strength distance attenuation relationship model provided by the present invention;

[0037] Figure 3 It is a schematic diagram of obtaining the distance information between two terminal devices by presetting the signal strength distance attenuation relationship model provided by the present invention;

[0038] Figure 4 It is a schematic diagram of determining the relative position relationship between terminal devices provided by the present invention;

[0039] Figure 5 It is a structural schematic diagram of the indoor positioning device provided by the present invention;

[0040] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Human beings have always had a need for positioning. In ancient times, humans learned to rely on natural objects such as the sun, moon, stars, plants, animals, and rivers to estimate their approximate location, forming a set of empirical methods that later developed into the compass. These technological advances have played a huge role in helping humans explore the unknown world.

[0043] As the demand changes, this overly rough positioning technology is increasingly unable to meet the refined needs of human beings to explore the world, giving rise to the Global Positioning System (GPS). With the development of mobile Internet and the innovation of indoor location technology, indoor positioning technology has emerged under today's market demand. In addition to meeting basic indoor positioning needs, the technological progress based on indoor positioning has brought breakthrough changes to the development of other industries.

[0044] Indoor positioning technology has developed in many directions. If distinguished by the source of positioning data, it can be divided into wireless signal type, image type, sound wave type, etc. The wireless signal type can be divided into 4G / 5G, Bluetooth, WIFI, UWB, etc. It is usually calculated by measuring the strength of the known transmitting source data received by the positioning object, and using the signal strength attenuation distance formula to calculate the spatial distance between the positioning object and the transmitting source. After obtaining the distance between the positioning object and multiple transmitting sources, the final coordinates of the positioning object are obtained through positioning algorithms, such as triangulation positioning algorithm, weighted centroid algorithm, etc., thereby achieving the purpose of indoor positioning.

[0045] In the field of indoor positioning for ordinary users, the main positioning object is the user's mobile phone, so the most common positioning technology is Bluetooth positioning technology. The hardware equipment of Bluetooth positioning technology includes the Bluetooth receiving module in the user's mobile phone, the Bluetooth transmitting module (also called Bluetooth beacon / iBeacon) deployed in the indoor environment, the Bluetooth gateway (also called Bluetooth antenna) responsible for collecting and reporting the information of the Bluetooth transmitting module, and the background positioning server for parsing data. First, the points of the Bluetooth transmitting module are selected for the indoor environment to be positioned. Different requirements for positioning accuracy have different requirements for the intervals of the Bluetooth transmitting module points. Usually, a Bluetooth transmitting module is arranged every 6-8 meters. Each Bluetooth transmitting module has a unique identification code, so that it can be known which Bluetooth transmitting module the received data comes from, and the transmission strength and frequency of the Bluetooth signal in the scene are the same, ensuring that the signal strength received by the mobile phone is consistent at the same distance. The Bluetooth gateway is responsible for collecting the data of the Bluetooth transmitting module to monitor the status of the Bluetooth transmitting module.

[0046] The existing Bluetooth indoor positioning solution requires the deployment of Bluetooth transmitter modules in advance and the fusion of Bluetooth transmitter module data with indoor map data. Only by knowing the location of each Bluetooth transmitter module can the location of the positioning object be calculated based on this. Therefore, it is costly to deploy a large number of Bluetooth transmitter modules. The high price is the first disadvantage. In order to flexibly select the locations of Bluetooth transmitter modules, most of the existing Bluetooth transmitter modules are powered by built-in batteries. With the long-term operation of indoor positioning projects, the batteries will inevitably run out of power and need to be replaced. Therefore, the cumbersome operation and maintenance in the later stage is the second disadvantage.

[0047] To this end, in view of the shortcomings and deficiencies of existing Bluetooth indoor positioning technology, a Bluetooth-based cluster autonomous positioning method is provided in an embodiment of the present invention, which does not require additional deployment of Bluetooth transmitting modules in the indoor environment. Therefore, compared with the existing Bluetooth indoor positioning solutions, it has the advantages of low cost and convenient subsequent operation and maintenance.

[0048] Figure 1 FIG. 1 is a flow chart of an indoor positioning method provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0049] S1, obtaining a positioning request of a target terminal device in a target building;

[0050] S2, determining distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determining a topological structure of each terminal device based on the distance information;

[0051] S3: Determine the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building.

[0052] Specifically, the indoor positioning method provided in the embodiment of the present invention is executed by a positioning server, which can be a local server or a cloud server. The local server can be a computer, a tablet computer, a smart phone, etc., which is not specifically limited in the embodiment of the present invention. The positioning server can be connected to a terminal device in a target building. The target building can be a shopping mall, an office building, etc. A Bluetooth module can be configured on the terminal device, and the Bluetooth module can be used to connect to other terminal devices on the same floor in the target building. The terminal device can be a mobile terminal device, such as a mobile phone, a tablet computer, etc. It should be noted that the premise of the indoor positioning method provided in the embodiment of the present invention is that the Bluetooth module configured in the target terminal device is in an on state.

[0053] First, step S1 is performed to obtain a positioning request of a target terminal device in a target building. The target terminal device refers to a terminal device that needs to be positioned, and can be any terminal device in the target building. An indoor positioning application (APP) can be installed on the target terminal device, and the positioning request can be sent to the positioning server by opening the APP.

[0054] Then, step S2 is performed, and the positioning server can obtain the Bluetooth communication data between each terminal device in the target building that contains the target terminal device in a clustered distribution. Each terminal device can report the received Bluetooth communication data to the positioning server in real time when it is in a networked state. In general, since the Bluetooth module is suitable for short-range communication, Bluetooth communication can not be achieved between all terminal devices in the target building. Here, each terminal device refers to a terminal device that can perform Bluetooth communication and is distributed in a cluster in the target building, and each terminal device contains a target terminal device. The Bluetooth communication data may include information transmitted by Bluetooth communication, model information of two terminal devices of Bluetooth communication, identification information of two terminal devices, and received signal strength information (Received Signal Strength Indication, RSSI) of Bluetooth communication. Among them, model information refers to the model of the terminal device, and different brands and different models under the same brand all represent different model information. Different batches of terminal devices under the same model have the same model information.

[0055] The positioning server can determine the distance information between each terminal device based on the acquired Bluetooth communication data. The distance information between each terminal device refers to the absolute distance information. In general, the distance information between each terminal device can be determined by the following formula:

[0056]

[0057] Where: d is the distance information between any two terminal devices, RSSI is the received signal strength information, which is usually a negative value; K is the received signal strength information when the transmitter and receiver are 1 meter apart, and n is the environmental attenuation factor.

[0058] However, since terminal devices with different model information are not necessarily equipped with the same Bluetooth modules, their transmission powers are slightly different, which in turn leads to different correspondences between the received signal strength information and the distance information during Bluetooth communication, which in turn leads to deviations in the determined distance information. Therefore, the model information of the two terminal devices in the Bluetooth communication data and the received signal strength information of the Bluetooth communication can be combined to determine the distance information between the terminal devices.

[0059] After determining the distance information between the terminal devices, the relative position information between the terminal devices can be determined based on the distance information between the terminal devices, and then the topological structure of the terminal devices can be determined. The topological structure represents the physical layout of the relative position information between the terminal devices.

[0060] Finally, step S3 is performed, and the positioning server determines the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor according to the topological structure of each terminal device and the environmental information of each floor in the target building. Among them, the environmental information of each floor in the target building can be predetermined, and can include environmental structure information and environmental location information. The environmental structure information refers to the objects contained in each floor and the object topological structure formed by them, and the environmental location information refers to the specific location of each object contained in each floor. The objects contained in each floor can include shops, stairs, elevators, and support columns. Since there are enough terminal devices and they are distributed evenly, the topological structure of each terminal device can be similar to the object topological structure formed by the objects contained in the current target floor. Therefore, the target floor where the target device is located can be determined according to the environmental structure information. After determining the target floor where the target device is located, the location information of the target terminal device on the target floor can be determined according to the environmental location information of the target floor. The location information can be relative location information within the target floor.

[0061] The indoor positioning method provided in the embodiment of the present invention first obtains the positioning request of the target terminal device in the target building; then, based on the Bluetooth communication data between the terminal devices in the target building that contain the target terminal device and are distributed in a cluster, determines the distance information between the terminal devices, and based on the distance information, determines the topological structure of each terminal device; finally, based on the topological structure and the environmental information of each floor in the target building, determines the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor. Positioning is performed directly through the Bluetooth communication data between the terminal devices in the target building that are distributed in a cluster, and there is no need to introduce Bluetooth beacons on the target terminal device, which can save positioning costs. Moreover, since there is no need to introduce Bluetooth beacons, there is no need to operate and maintain Bluetooth beacons, which reduces the cost of later operation and maintenance and makes operation and maintenance more convenient.

[0062] On the basis of the above-mentioned embodiment, in the indoor positioning method provided in the embodiment of the present invention, the Bluetooth communication data includes the received signal strength information and the model information of the terminal device;

[0063] Accordingly, the determining of the distance information between the terminal devices based on the Bluetooth communication data between the terminal devices distributed in clusters in the target building specifically includes:

[0064] Based on the received signal strength information between the terminal devices, the model information of the terminal devices and the preset signal strength distance attenuation relationship model between the terminal devices of each model information, the distance information between the terminal devices is determined.

[0065] Specifically, in an embodiment of the present invention, when determining the distance information between each terminal device, the distance information between each terminal device can be determined based on the received signal strength information between each terminal device, the model information of each terminal device, and the preset signal strength distance attenuation relationship model between the terminal devices of each model information. The preset signal strength distance attenuation relationship model is used to characterize the correspondence between the received signal strength and the distance when Bluetooth communication is performed between terminal devices of each model information, and may include the correspondence between the received signal strength and the distance when Bluetooth communication is performed between terminal devices of the same model information, and may also include the correspondence between the received signal strength and the distance when Bluetooth communication is performed between terminal devices of different model information.

[0066] By substituting the received signal strength information between each terminal device and the model information of each terminal device into the preset signal strength distance attenuation relationship model, the distance information between each terminal device can be determined.

[0067] In the embodiment of the present invention, a preset signal strength distance attenuation relationship model is introduced to simplify the process of determining the distance information between the terminal devices.

[0068] On the basis of the above-mentioned embodiment, in the indoor positioning method provided in the embodiment of the present invention, the preset signal strength distance attenuation relationship model is specifically determined by the following method:

[0069] Get terminal equipment samples with information of various models;

[0070] Perform Bluetooth communication between each two terminal device samples, and adjust the distance between each two terminal device samples to obtain received signal strength information corresponding to different distances;

[0071] Based on the received signal strength information corresponding to different distances, the signal strength distance attenuation relationship between each two terminal device samples is determined, and combined with the model information of each two terminal device samples, the preset signal strength distance attenuation relationship model is determined.

[0072] Specifically, in an embodiment of the present invention, when determining a preset signal strength distance attenuation relationship model, terminal device samples of multiple model information are first obtained. Terminal device samples of the same model information and terminal device samples of different model information can be obtained here. The model information of the terminal device samples can be models currently commonly used on the market. Then, every two terminal device samples are used for Bluetooth communication, and the distance between every two terminal device samples is adjusted. The distance can be increased from 1m to 1000m in sequence, and then the received signal strength information corresponding to each distance can be determined. Finally, different distances are fitted with the received signal strength information corresponding to each distance to obtain the signal strength distance attenuation relationship between every two terminal device samples, and the preset signal strength distance attenuation relationship model is determined in combination with the model information of every two terminal device samples.

[0073] If the preset signal strength distance attenuation relationship model involves a total of M terminal devices with model information, namely A1, A2, ..., AM, then the corresponding relationship contained in the preset signal strength distance attenuation relationship model is as follows: Figure 2 shown.

[0074] In the embodiment of the present invention, by performing Bluetooth communication between terminal device samples of various machine model information in pairs to determine a preset signal strength-distance attenuation relationship model, the obtained preset signal strength-distance attenuation relationship model can be made more reliable.

[0075] On the basis of the above-mentioned embodiment, in the indoor positioning method provided in the embodiment of the present invention, the environmental information includes environmental structure information;

[0076] Accordingly, determining the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building specifically includes:

[0077] The topological structure is matched with the environmental structure information of each floor to determine the target floor, and based on the environmental structure information of the target floor and the topological structure, the location information of the target terminal device on the target floor is determined.

[0078] Specifically, in the embodiment of the present invention, since the environmental information of each floor may include the environmental structure information of each floor and the environmental location information of each floor. Therefore, when determining the target floor and the location information of the target terminal device on the target floor, the topological structure of each terminal device may be matched with the environmental structure information of each floor, that is, the topological structure of each terminal device may be matched with the object topological structure of each floor, and the floor corresponding to the successfully matched object topological structure is the target floor. Then, the location information of the target terminal device on the target floor is determined based on the environmental structure information of the target floor and the topological structure. The target terminal device may be projected into the target floor, and the location information of the object overlapping with the target terminal device is the location information of the target terminal device on the target floor.

[0079] In the embodiment of the present invention, the target floor where the target terminal device is located and the position information on the target floor are located in combination with the determined environmental structure information of each floor and the topological structure of each terminal device, so that the positioning process can be simplified.

[0080] On the basis of the above embodiment, the indoor positioning method provided in the embodiment of the present invention, the determining the location information of the target terminal device on the target floor based on the environmental structure information and the topological structure of the target floor, specifically includes:

[0081] Based on the environmental structure information of the target floor, a calibration terminal device of the target floor is selected, and the position information of the calibration terminal device is used as the origin coordinate;

[0082] Based on the origin coordinates and the topological structure, the location information of the target terminal device on the target floor is determined.

[0083] Specifically, in an embodiment of the present invention, when determining the location information of the target terminal device on the target floor, the calibration terminal device of the target floor can be selected based on the environmental structure information of the target floor. The selected calibration terminal device can be a terminal device with the most distinctive location information on the target floor, such as a terminal device located at the elevator entrance or a terminal device located at the bathroom entrance. This is not specifically limited in the embodiment of the present invention.

[0084] Then, the location information of the calibrated terminal device is used as the origin coordinates. According to the origin coordinates and the topological structure of each terminal device, the location information of all terminal devices in the cluster distribution on the target floor is determined, and the location information of the target terminal device on the target floor can be determined.

[0085] In the embodiment of the present invention, a calibration terminal device is introduced, so that the user can clearly know the relative position information of the target terminal device in the target floor, thereby improving the user experience.

[0086] On the basis of the above-mentioned embodiment, the indoor positioning method provided in the embodiment of the present invention, wherein the determining the topological structure of each terminal device based on the distance information specifically includes:

[0087] Based on the distance information, determining the relative position relationship between each terminal device and other terminal devices;

[0088] Based on the relative position relationship, the topological structure is determined.

[0089] Specifically, in an embodiment of the present invention, when determining the topological structure of each terminal device, the relative position relationship between each terminal device and other terminal devices can be determined based on the distance information between the terminal devices; then the topological structure of each terminal device can be determined based on the relative position relationship between each terminal device and other terminal devices.

[0090] For example, the target building contains N terminal devices (A1~A N ), terminal device A a and A b The distance information between them is set as S ab , then by presetting the signal strength distance attenuation relationship model, the distance information between two terminal devices is obtained: S 12 , S 13 , S 14 , ..., S 1N , S 21 , S 23 , S 24 , ..., S 2N , ..., S N1 , S N2 , S N3, ..., S NN-1 Take any terminal device as the origin, assuming A1 is the origin. Since the shape of a triangle is unique when the lengths of the three sides are determined, S 12 , S 13 , S 12 , which are the lengths of the three sides, can determine the shape of the triangle formed by A1, A2, and A3, but cannot determine the specific coordinates. The possible coordinate combination formed is a set of triangles rotated with A1 as the center, such as Figure 3 shown.

[0091] by Figure 3 Starting from any triangle in the figure, the topological structures of the terminal devices are the same. Therefore, the black triangle is used as the reference and combined with S 41 , S 42 , S 43 ,like Figure 4 , using the three-sided positioning algorithm or the multilateral weighted centroid algorithm, the relative position relationship of A4 can be uniquely determined, and so on, the relative position information of all N terminal devices can be obtained to form the topological structure of each terminal device.

[0092] In the embodiment of the present invention, the topological structure of each terminal device is determined through the distance information between the terminal devices, so that the accuracy and stability of the topological structure can be guaranteed.

[0093] On the basis of the above-mentioned embodiment, in the indoor positioning method provided in the embodiment of the present invention, the Bluetooth communication data further includes identification information of the terminal device.

[0094] Specifically, in the embodiment of the present invention, the Bluetooth communication data also includes identification information of the terminal device, which can facilitate the identification of the terminal device during the Bluetooth communication process and ensure the positioning accuracy of the positioning server.

[0095] like Figure 5 As shown, based on the above embodiments, an indoor positioning device is provided in an embodiment of the present invention, including: an acquisition module 51, a determination module 52 and a positioning module 53.

[0096] An acquisition module 51 is used to acquire a location request of a target terminal device in a target building;

[0097] A determination module 52, configured to determine distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determine a topological structure of each terminal device based on the distance information;

[0098] The positioning module 53 is used to determine the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building.

[0099] On the basis of the above embodiment, in the indoor positioning device provided in the embodiment of the present invention, the Bluetooth communication data includes the received signal strength information and the model information of the terminal device; accordingly, the determination module is specifically used for:

[0100] Based on the received signal strength information between the terminal devices, the model information of the terminal devices and the preset signal strength distance attenuation relationship model between the terminal devices of each model information, the distance information between the terminal devices is determined.

[0101] On the basis of the above embodiment, the indoor positioning device provided in the embodiment of the present invention further includes a model determination module, which is used to:

[0102] Get terminal equipment samples with information of various models;

[0103] Perform Bluetooth communication between each two terminal device samples, and adjust the distance between each two terminal device samples to obtain received signal strength information corresponding to different distances;

[0104] Based on the received signal strength information corresponding to different distances, the signal strength distance attenuation relationship between each two terminal device samples is determined, and combined with the model information of each two terminal device samples, the preset signal strength distance attenuation relationship model is determined.

[0105] On the basis of the above-mentioned embodiment, in the indoor positioning device provided in the embodiment of the present invention, the environmental information includes environmental structure information;

[0106] Accordingly, the positioning module is specifically used for:

[0107] The topological structure is matched with the environmental structure information of each floor to determine the target floor, and based on the environmental structure information of the target floor and the topological structure, the location information of the target terminal device on the target floor is determined.

[0108] On the basis of the above embodiments, the indoor positioning device provided in the embodiments of the present invention, the positioning module is further specifically used for:

[0109] Based on the environmental structure information of the target floor, a calibration terminal device of the target floor is selected, and the position information of the calibration terminal device is used as the origin coordinate;

[0110] Based on the origin coordinates and the topological structure, the location information of the target terminal device on the target floor is determined.

[0111] On the basis of the above embodiment, in the indoor positioning device provided in the embodiment of the present invention, the determination module is further specifically used for:

[0112] Based on the distance information, determining the relative position relationship between each terminal device and other terminal devices;

[0113] Based on the relative position relationship, the topological structure is determined.

[0114] On the basis of the above-mentioned embodiment, in the indoor positioning device provided in the embodiment of the present invention, the Bluetooth communication data further includes identification information of the terminal device.

[0115] Specifically, the functions of each module in the indoor positioning device provided in the embodiment of the present invention correspond one-to-one to the operation flow of each step in the above method embodiment, and the effects achieved are also consistent. Please refer to the above embodiment for details, which will not be repeated in the embodiment of the present invention.

[0116] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the indoor positioning method provided in the above embodiments, the method comprising: obtaining a positioning request of a target terminal device in a target building; determining the distance information between the terminal devices based on the Bluetooth communication data between the clustered terminal devices including the target terminal device in the target building, and determining the topological structure of the terminal devices based on the distance information; determining the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building.

[0117] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the indoor positioning method provided in the above-mentioned embodiments, the method including: obtaining a positioning request of a target terminal device in a target building; determining distance information between each terminal device based on Bluetooth communication data between each cluster-distributed terminal device in the target building that includes the target terminal device, and determining a topological structure of each terminal device based on the distance information; determining a target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and environmental information of each floor in the target building.

[0119] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the indoor positioning method provided in the above-mentioned embodiments, the method comprising: obtaining a positioning request of a target terminal device in a target building; determining distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster and including the target terminal device in the target building, and determining a topological structure of each terminal device based on the distance information; determining a target floor of the target terminal device in the target building and location information of the target terminal device on the target floor based on the topological structure and environmental information of each floor in the target building.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An indoor positioning method, characterized in that: include: Obtaining a location request of a target terminal device in a target building; Determine distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determine a topological structure of each terminal device based on the distance information; Based on the topological structure and the environmental information of each floor in the target building, the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor are determined; the environmental information includes environmental structure information, and the environmental structure information refers to the objects contained in each floor and the object topological structure formed by them.

2. The indoor positioning method according to claim 1, characterized in that: The Bluetooth communication data includes received signal strength information and model information of the terminal device; Accordingly, the determining of the distance information between the terminal devices based on the Bluetooth communication data between the terminal devices distributed in clusters in the target building specifically includes: Based on the received signal strength information between the terminal devices, the model information of the terminal devices and the preset signal strength distance attenuation relationship model between the terminal devices of each model information, the distance information between the terminal devices is determined.

3. The indoor positioning method according to claim 2, characterized in that: The preset signal strength distance attenuation relationship model is specifically determined by the following method: Get terminal equipment samples with information of various models; Perform Bluetooth communication between each two terminal device samples, and adjust the distance between each two terminal device samples to obtain received signal strength information corresponding to different distances; Based on the received signal strength information corresponding to different distances, the signal strength distance attenuation relationship between each two terminal device samples is determined, and combined with the model information of each two terminal device samples, the preset signal strength distance attenuation relationship model is determined.

4. The indoor positioning method according to claim 1, characterized in that: The determining, based on the topological structure and the environmental information of each floor in the target building, the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor specifically includes: The topological structure is matched with the environmental structure information of each floor to determine the target floor, and based on the environmental structure information of the target floor and the topological structure, the location information of the target terminal device on the target floor is determined.

5. The indoor positioning method according to claim 4, characterized in that: The determining, based on the environmental structure information of the target floor and the topological structure, the location information of the target terminal device on the target floor specifically includes: Based on the environmental structure information of the target floor, a calibration terminal device of the target floor is selected, and the position information of the calibration terminal device is used as the origin coordinate; Based on the origin coordinates and the topological structure, the location information of the target terminal device on the target floor is determined.

6. The indoor positioning method according to claim 1, characterized in that: The determining the topological structure of each terminal device based on the distance information specifically includes: Based on the distance information, determining the relative position relationship between each terminal device and other terminal devices; Based on the relative position relationship, the topological structure is determined.

7. The indoor positioning method according to any one of claims 1 to 6, characterized in that: The Bluetooth communication data also includes identification information of the terminal device.

8. An indoor positioning device, characterized in that: include: An acquisition module, used to obtain a positioning request of a target terminal device in a target building; A determination module, configured to determine distance information between each terminal device based on Bluetooth communication data between each terminal device distributed in a cluster including the target terminal device in the target building, and determine a topological structure of each terminal device based on the distance information; A positioning module is used to determine the target floor of the target terminal device in the target building and the location information of the target terminal device on the target floor based on the topological structure and the environmental information of each floor in the target building; the environmental information includes environmental structure information, and the environmental structure information refers to the objects contained in each floor and the object topological structure formed by them.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the indoor positioning method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the indoor positioning method according to any one of claims 1 to 7 are implemented.

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