A multi-server multi-area positioning method for an angle-of-arrival positioning system

Abstract

The present invention discloses a multi-server multi-area positioning method for an arrival angle positioning system, comprising: a server receives terminal observation information uploaded by a base station and marks a timestamp; the server matches and groups the terminal observation information according to a set of MAC addresses of base stations in a sub-area; data packets in each sub-area are grouped according to the terminal MAC address and sorted according to the timestamp; each terminal in the sub-area uses the data packets in the group and combines them with the base station coordinates and timestamp information to perform multi-source heterogeneous data fusion positioning to obtain a position estimate of the terminal in the sub-area; the server uploads the position estimate of each terminal, the sub-area, and the base station received signal strength statistical information to a host computer; when the same terminal has position estimates in multiple sub-areas, it is necessary to combine information such as the sub-area boundary and the base station received signal strength statistics to determine whether a sub-area switching condition is triggered, and determine the sub-area information to which the terminal belongs; the host computer outputs the final position estimate of each terminal and the sub-area information to an application layer.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a multi-server multi-area positioning method for an angle-of-arrival positioning system. Background Art

[0002] In the era of the Internet of Things, not only the time and status of the target are needed, but also the location information of the target. In response to the application of multi-server multi-region positioning, the present invention conducts in-depth research on radio arrival angle direction finding positioning technology and proposes a multi-server multi-region positioning method for arrival angle positioning system. The server receives the observation information of each terminal uploaded by the base station and marks the timestamp; the server matches and groups according to the sub-region base station MAC address set; the data packets in each sub-region are grouped according to the terminal MAC address and sorted by the timestamp; each terminal in the sub-region uses the received signal strength and incident angle in the data packets in the group and combines the relevant base station coordinates, timestamp and other information to perform multi-source heterogeneous data fusion positioning to obtain the terminal's position estimate in the sub-region; the server uploads the terminal position estimate, sub-region, and base station received signal strength statistics to the host computer; when the same terminal appears in multiple sub-regions in the host computer, it is necessary to combine the sub-region boundary, base station received signal strength statistics and other information to determine whether the sub-region switching condition is triggered and determine the sub-region information to which the terminal belongs; the host computer outputs the final position estimate and sub-region information of each terminal to the application layer. Summary of the Invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides a multi-server multi-region positioning method for an arrival angle positioning system, which has the characteristics of multi-region fusion positioning technology and is conducive to building a multi-server multi-region arrival angle positioning system.

[0004] In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted to solve the technical problems are as follows:

[0005] A multi-server multi-area positioning method for an angle of arrival positioning system comprises the following steps:

[0006] Step S1: The server receives observation information about each terminal uploaded by the base station and marks the timestamp;

[0007] Step S2: The server performs matching and grouping according to the sub-area base station MAC address set;

[0008] Step S3: The data packets in each sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0009] Step S4: Each terminal in the sub-area uses the received signal strength and incident angle in the data packets in the group and combines them with the coordinates of the relevant base stations and timestamp information to perform multi-source heterogeneous data fusion positioning to obtain the terminal's position estimate in the sub-area;

[0010] Step S5: The server uploads the estimated location of each terminal, sub-area, and base station received signal strength statistics to the host computer;

[0011] Step S6: When the host computer estimates the location of the same terminal in multiple sub-areas, it is necessary to determine whether the sub-area switching condition is triggered in combination with the sub-area boundary and the statistical information of the base station received signal strength, and determine the sub-area information to which the terminal belongs;

[0012] Step S7: The host computer outputs the final location estimate of each terminal and the sub-area information to the application layer.

[0013] Furthermore, the step S1 includes the following steps:

[0014] Step S11: There is an observation information communication protocol between the base station and the server;

[0015] Step S12: The protocol includes the terminal MAC address, the base station MAC address, the received signal strength indicator RSSI, and the incident angle information; or the protocol includes the terminal MAC address, the base station MAC address, the received signal strength indicator RSSI, and a sampling signal for extracting the incident angle information;

[0016] Step S13: The server timestamps the received communication data.

[0017] Furthermore, step S2 includes the following steps:

[0018] Step S21: the performance of a single server covers the entire positioning area;

[0019] Step S22: the entire positioning area is divided into multiple sub-areas, or the entire area is used as a sub-area;

[0020] Step S23: Grouping the MAC addresses of the base stations in the sub-area into a set;

[0021] Step S24: The server compares the base station MAC address in the received information with the sub-region MAC address set, and classifies the received information into the sub-region group with the matching base station MAC address.

[0022] Furthermore, step S3 includes the following steps:

[0023] Step S31: The data packets in the sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0024] Step S32: Every time interval Ts, data packets within the time interval T are classified according to the base station MAC address, and the RSSI value is used to cluster the data in each base station group to eliminate abnormal values.

[0025] Furthermore, step S4 includes the following steps:

[0026] Step S41: Each terminal in the sub-area sets an observation information weight using the received signal strength and incident angle information in the data packet within the group; or calculates the incident angle information from the sampled signal and sets the observation information weight in combination with the received signal strength;

[0027] Step S42: Using the incident angle information in the data packet, combined with the base station coordinates and relative working height information, a rough estimated position of the terminal on the working plane is determined, and then expanded outward to form a coarse positioning area and assigned a weight;

[0028] Step S43: superimpose the weighted coarse positioning areas corresponding to the data within the time interval T, find the area with the largest weight, and use its center of gravity as the estimated position of the terminal in the sub-area.

[0029] Furthermore, step S5 includes the following steps:

[0030] Step S51: a communication protocol exists between the server and the host computer, which includes the terminal MAC address, terminal location estimation, base station received signal strength statistics, and sub-area information;

[0031] Step S52: The host computer has information about each sub-area, including the MAC address set of base stations in the sub-area, boundary conditions, and entrance and exit base station information;

[0032] Step S53: The server uploads the position estimation, sub-area, and base station received signal strength statistical information of the terminal in multiple sub-areas on the server to the host computer; or, the server performs a fusion judgment on the position estimation, sub-area, and base station received signal strength statistical information of the terminal in multiple sub-areas on the server, obtains the position estimation, sub-area, and base station received signal strength statistical information of the terminal in a single sub-area on the server, and uploads it to the host computer.

[0033] Optionally, step S53 further includes the following:

[0034] Step S531: When the same terminal in the server has position estimates in multiple sub-areas, statistical information of the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval T is obtained;

[0035] Step S532: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area;

[0036] Step S533: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength;

[0037] Step S534: If sub-area switching is triggered, determine whether sub-area switching is required based on the base station information at the entrances and exits of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If necessary, confirm that the terminal has entered the sub-area.

[0038] Step S535: The server determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0039] Step S536: If the sub-area is not switched, the terminal position estimate of the atomic area is used as the terminal position estimate in the server;

[0040] Step S537: If the sub-area is switched, the terminal position estimate of the switched-in sub-area is used as the terminal position estimate in the server;

[0041] Step S538: The server uploads the estimated position of the terminal in a single sub-area on the server, the sub-area, and the statistical information of the base station received signal strength to the host computer.

[0042] Furthermore, step S6 includes the following steps:

[0043] Step S61: When the same terminal in the host computer has position estimates in multiple sub-areas of multiple servers, statistical information on the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval T is obtained;

[0044] Step S62: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area;

[0045] Step S63: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength;

[0046] Step S64: If sub-area switching is triggered, determine whether sub-area switching is required based on the base station information at the entrances and exits of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, confirm that the terminal has entered the sub-area.

[0047] Furthermore, step S7 includes the following steps:

[0048] Step S71: The host computer determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0049] Step S72: If the sub-region is not switched, the terminal position estimate of the atomic region is used as the terminal position estimate in the host computer;

[0050] Step S73: If the sub-area is switched, the terminal position estimate of the sub-area is used as the terminal position estimate in the host computer;

[0051] Step S74: The host computer uploads the terminal positioning estimate and the sub-area information to the application layer at the time interval Ts; or, performs Kalman filtering on the terminal positioning estimate at the time interval Ts, and the filter output is used as the positioning estimate of the positioning terminal.

[0052] Due to the adoption of the above technical solution, the present invention has the characteristics of multi-region fusion positioning technology compared with the existing technology, which is conducive to building a multi-server multi-region arrival angle positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0054] Figure 1 This is a schematic diagram of a multi-server multi-region workflow;

[0055] Figure 2 This is another diagram of a multi-server multi-region workflow;

[0056] Figure 3 This is the structure diagram of the multi-server and multi-area system of the arrival angle positioning system. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] Example 1

[0059] like Figure 3 As shown in Figure 1, the multi-server, multi-region positioning architecture of the arrival angle positioning system includes N positioning terminals, Mk positioning base stations, Mk switch groups, and M servers. The positioning system coverage area is divided into Mk sub-regions, and the positioning terminals can move within and between sub-regions.

[0060] like Figure 1 As shown, the present invention discloses a multi-server multi-area positioning method for an arrival angle positioning system, comprising the following steps:

[0061] Step S1: The server receives observation information about each terminal uploaded by the base station and marks the timestamp;

[0062] Step S2: The server performs matching grouping according to the sub-area base station MAC address set;

[0063] Step S3: The data packets in each sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0064] Step S4: Each terminal in the sub-area uses the received signal strength and incident angle in the data packets in the group and combines them with the relevant base station coordinates, timestamp and other information to perform multi-source heterogeneous data fusion positioning to obtain the terminal's position estimate in the sub-area;

[0065] Step S5: The server uploads the estimated location of each terminal, sub-area, and base station received signal strength statistics to the host computer;

[0066] Step S6: When the host computer has position estimates for the same terminal in multiple sub-areas, it is necessary to determine whether the sub-area switching condition is triggered by combining information such as sub-area boundaries and base station received signal strength statistics, and determine the sub-area information to which the terminal belongs;

[0067] Step S7: The host computer outputs the final location estimate of each terminal and the sub-area information to the application layer.

[0068] Furthermore, the step S1 includes the following steps:

[0069] Step S11: There is an observation information communication protocol between the base station and the server;

[0070] Step S12: The protocol includes the terminal MAC address, base station MAC address, received signal strength indicator RSSI, and incident angle information;

[0071] Step S13: The server timestamps the received communication data.

[0072] Furthermore, step S2 includes the following steps:

[0073] Step S21: the performance of a single server covers the entire positioning area;

[0074] Step S22: the entire positioning area is divided into multiple sub-areas;

[0075] Step S23: Grouping the MAC addresses of the base stations in the sub-area into a set;

[0076] Step S24: The server compares the base station MAC address in the received information with the sub-region MAC address set, and classifies the received information into the sub-region group with the matching base station MAC address.

[0077] Furthermore, step S3 includes the following steps:

[0078] Step S31: The data packets in the sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0079] Step S32: Every 0.1s, data packets within a time interval of 1s are classified according to the base station MAC address, and the RSSI value is used to cluster the data in each base station group to eliminate abnormal values.

[0080] Furthermore, step S4 includes the following steps:

[0081] Step S41: Each terminal in the sub-area sets the observation information weight using the received signal strength and incident angle information in the data packet within the group;

[0082] Step S42: Using the incident angle information in the data packet, combined with the base station coordinates and relative working height information, a rough estimated position of the terminal on the working plane is determined, and then expanded outward to form a coarse positioning area and assigned a weight;

[0083] Step S43: superimpose the weighted coarse positioning areas corresponding to the data within the time interval of 1 s, find the area with the largest weight, and use its center of gravity as the estimated position of the terminal in the sub-area.

[0084] Furthermore, step S5 includes the following steps:

[0085] Step S51: a communication protocol exists between the server and the host computer, which includes the terminal MAC address, terminal location estimation, base station received signal strength statistics, and sub-area information;

[0086] Step S52: The host computer has information about each sub-area, including the MAC address set of base stations in the sub-area, boundary conditions, and entrance and exit base station information;

[0087] Step S53: The server uploads information such as the estimated location of the terminal in multiple sub-areas on the server, sub-areas, and base station received signal strength statistics to the host computer;

[0088] Furthermore, step S6 includes the following steps:

[0089] Step S61: When the same terminal in the host computer has position estimates in multiple sub-areas of multiple servers, statistical information on the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval T is obtained;

[0090] Step S62: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area;

[0091] Step S63: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength;

[0092] Step S64: If sub-area switching is triggered, determine whether sub-area switching is required based on the base station information at the entrances and exits of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, confirm that the terminal has entered the sub-area.

[0093] Furthermore, step S7 includes the following steps:

[0094] Step S71: The host computer determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0095] Step S72: If the sub-region is not switched, the terminal position estimate of the atomic region is used as the terminal position estimate in the host computer;

[0096] Step S73: If the sub-area is switched, the terminal position estimate of the sub-area is used as the terminal position estimate in the host computer;

[0097] Step S74: The host computer uploads the terminal positioning estimation value and the sub-area information to the application layer at a time interval of 0.1s.

[0098] Example 2

[0099] like Figure 3 As shown in Figure 1, the multi-server, multi-region positioning architecture of the arrival angle positioning system includes N positioning terminals, Mk positioning base stations, Mk switch groups, and M servers. The positioning system coverage area is divided into Mk sub-regions, and the positioning terminals can move within and between sub-regions.

[0100] like Figure 2 As shown, the present invention discloses another multi-server multi-region positioning method of an arrival angle positioning system, comprising the following steps:

[0101] Step S1: The server receives observation information about each terminal uploaded by the base station and marks the timestamp;

[0102] Step S2: The server performs matching and grouping according to the sub-area base station MAC address set;

[0103] Step S3: The data packets in each sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0104] Step S4: Each terminal in the sub-area uses the received signal strength and incident angle in the data packets in the group and combines them with the relevant base station coordinates, timestamp and other information to perform multi-source heterogeneous data fusion positioning to obtain the terminal's position estimate in the sub-area;

[0105] Step S5: The server uploads the estimated location of each terminal, sub-area, and base station received signal strength statistics to the host computer;

[0106] Step S6: When the host computer has position estimates for the same terminal in multiple sub-areas, it is necessary to determine whether the sub-area switching condition is triggered by combining information such as sub-area boundaries and base station received signal strength statistics, and determine the sub-area information to which the terminal belongs;

[0107] Step S7: The host computer outputs the final location estimate of each terminal and the sub-area information to the application layer.

[0108] Furthermore, the step S1 includes the following steps:

[0109] Step S11: There is an observation information communication protocol between the base station and the server;

[0110] Step S12: The protocol includes the terminal MAC address, base station MAC address, received signal strength indicator RSSI, and incident angle information;

[0111] Step S13: The server timestamps the received communication data.

[0112] Furthermore, step S2 includes the following steps:

[0113] Step S21: the performance of a single server covers the entire positioning area;

[0114] Step S22: the entire positioning area is divided into a plurality of sub-areas, in particular, the entire area is regarded as a sub-area;

[0115] Step S23: Grouping the MAC addresses of the base stations in the sub-area into a set;

[0116] Step S24: The server compares the base station MAC address in the received information with the sub-region MAC address set, and classifies the received information into the sub-region group with the matching base station MAC address.

[0117] Furthermore, step S3 includes the following steps:

[0118] Step S31: The data packets in the sub-area are grouped according to the terminal MAC address and sorted according to the timestamp;

[0119] Step S32: Every 0.1s, data packets within a time interval of 1s are classified according to the base station MAC address, and the RSSI value is used to cluster the data in each base station group to eliminate abnormal values.

[0120] Furthermore, step S4 includes the following steps:

[0121] Step S41: Each terminal in the sub-area sets the observation information weight using the received signal strength and incident angle information in the data packet within the group;

[0122] Step S42: Using the incident angle information in the data packet, combined with the base station coordinates and relative working height information, a rough estimated position of the terminal on the working plane is determined, and then expanded outward to form a coarse positioning area and assigned a weight;

[0123] Step S43: superimpose the weighted coarse positioning areas corresponding to the data within the time interval of 1 s, find the area with the largest weight, and use its center of gravity as the estimated position of the terminal in the sub-area.

[0124] Furthermore, step S5 includes the following steps:

[0125] Step S51: a communication protocol exists between the server and the host computer, which includes the terminal MAC address, terminal location estimation, base station received signal strength statistics, and sub-area information;

[0126] Step S52: The host computer has information about each sub-area, including the MAC address set of base stations in the sub-area, boundary conditions, and information about entrance and exit base stations;

[0127] Step S531: When the same terminal in the server has position estimates in multiple sub-areas, statistical information on the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval of 1s is obtained;

[0128] Step S532: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area;

[0129] Step S533: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength;

[0130] Step S534: If sub-area switching is triggered, determine whether sub-area switching is required based on the base station information at the entrances and exits of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If necessary, confirm that the terminal has entered the sub-area.

[0131] Step S535: The server determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0132] Step S536: If the sub-area is not switched, the terminal position estimate of the atomic area is used as the terminal position estimate in the server;

[0133] Step S537: If the sub-area is switched, the terminal position estimate of the switched-in sub-area is used as the terminal position estimate in the server;

[0134] Step S538: The server uploads information such as the estimated location of the terminal in a single sub-area on the server, the sub-area, and statistical information of the base station received signal strength to the host computer.

[0135] Furthermore, step S6 includes the following steps:

[0136] Step S61: When the same terminal in the host computer has position estimates in multiple sub-areas of multiple servers, statistical information on the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval of 1s is obtained;

[0137] Step S62: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area;

[0138] Step S63: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength;

[0139] Step S64: If sub-area switching is triggered, determine whether sub-area switching is required based on the base station information at the entrances and exits of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, confirm that the terminal has entered the sub-area.

[0140] Furthermore, step S7 includes the following steps:

[0141] Step S71: The host computer determines the terminal's final location estimate and sub-area information based on the sub-area switching result;

[0142] Step S72: If the sub-region is not switched, the terminal position estimate of the atomic region is used as the terminal position estimate in the host computer;

[0143] Step S73: If the sub-area is switched, the terminal position estimate of the sub-area is used as the terminal position estimate in the host computer;

[0144] Step S74: The host computer performs Kalman filtering on the terminal positioning estimation value at a time interval of 0.1s, and the filter output result is used as the positioning estimation value of the positioning terminal.

[0145] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A multi-server multi-area positioning method for an arrival angle positioning system, characterized in that: The following steps are involved: Step S1: The server receives observation information about each terminal uploaded by the base station and marks the timestamp; Step S2: The server performs matching and grouping according to the sub-area base station MAC address set; Step S3: The data packets in each sub-area are grouped according to the terminal MAC address and sorted according to the timestamp; Step S4: Each terminal in the sub-area uses the received signal strength and incident angle in the data packets in the group and combines them with the coordinates of the relevant base stations and timestamp information to perform multi-source heterogeneous data fusion positioning to obtain the terminal's position estimate in the sub-area; Step S5: The server uploads the estimated location of each terminal, sub-area, and base station received signal strength statistics to the host computer; The step S5 comprises the following steps: Step S51: a communication protocol exists between the server and the host computer, which includes the terminal MAC address, terminal location estimation, base station received signal strength statistics, and sub-area information; Step S52: The host computer has information about each sub-area, including the MAC address set of base stations in the sub-area, boundary conditions, and information about entrance and exit base stations; Step S53: The server uploads the terminal's position estimate, sub-area, and base station received signal strength statistics in multiple sub-areas on the server to the host computer; or, the server fuses the terminal's position estimate, sub-area, and base station received signal strength statistics in multiple sub-areas on the server to obtain the terminal's position estimate, sub-area, and base station received signal strength statistics in a single sub-area on the server, and uploads the information to the host computer; Step S6: When the host computer estimates the location of the same terminal in multiple sub-areas, it is necessary to determine whether the sub-area switching condition is triggered in combination with the sub-area boundary and the statistical information of the base station received signal strength, and determine the sub-area information to which the terminal belongs; The step S6 comprises the following steps: Step S61: When the same terminal in the host computer has position estimates in multiple sub-areas of multiple servers, statistical information on the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval T is obtained; Step S62: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area; Step S63: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength; Step S64: If sub-area switching is triggered, the terminal determines whether sub-area switching is required based on the information of the entrance and exit base stations of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, the terminal is confirmed to be switched to the sub-area. Step S7: The host computer outputs the final location estimate of each terminal and the sub-area information to the application layer.

2. The multi-server multi-area positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S1 comprises the following steps: Step S11: There is an observation information communication protocol between the base station and the server; Step S12: The protocol includes the terminal MAC address, the base station MAC address, the received signal strength indicator RSSI, and the incident angle information; or the protocol includes the terminal MAC address, the base station MAC address, the received signal strength indicator RSSI, and a sampling signal for extracting the incident angle information; Step S13: The server timestamps the received communication data.

3. The multi-server multi-region positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S2 comprises the following steps: Step S21: the performance of a single server covers the entire positioning area; Step S22: the entire positioning area is divided into multiple sub-areas, or the entire area is used as a sub-area; Step S23: Grouping the MAC addresses of the base stations in the sub-area into a set; Step S24: The server compares the base station MAC address in the received information with the sub-region MAC address set, and classifies the received information into the sub-region group with the matching base station MAC address.

4. The multi-server multi-region positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S3 comprises the following steps: Step S31: The data packets in the sub-area are grouped according to the terminal MAC address and sorted according to the timestamp; Step S32: Every time interval Ts, data packets within the time interval T are classified according to the base station MAC address, and the RSSI value is used to cluster the data in each base station group to eliminate abnormal values.

5. The multi-server multi-region positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S4 comprises the following steps: Step S41: Each terminal in the sub-area sets an observation information weight using the received signal strength and incident angle information in the data packet within the group; or calculates the incident angle information from the sampled signal and sets the observation information weight in combination with the received signal strength; Step S42: Using the incident angle information in the data packet, combined with the base station coordinates and relative working height information, a rough estimated position of the terminal on the working plane is determined, and then expanded outward to form a coarse positioning area and assigned a weight; Step S43: superimpose the weighted coarse positioning areas corresponding to the data within the time interval T, find the area with the largest weight, and use its center of gravity as the estimated position of the terminal in the sub-area.

6. The multi-server multi-region positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S53 further includes the following contents: Step S531: When the same terminal in the server has position estimates in multiple sub-areas, statistical information of the received signal strength of the terminal corresponding to the base station in each sub-area within a time interval T is obtained; Step S532: Determine whether to trigger sub-area switching based on the information of the entrance and exit base stations of each sub-area; Step S533: If sub-area switching is not triggered, determine the sub-area to which the terminal belongs based on the statistical information of the base station received signal strength; Step S534: If sub-area switching is triggered, the terminal determines whether sub-area switching is required based on the information of the entrance and exit base stations of each sub-area and the statistical information of the base station received signal strength. If not, the terminal belongs to the atomic area. If required, the terminal is confirmed to be switched to the sub-area. Step S535: The server determines the terminal's final location estimate and sub-area information based on the sub-area switching result; Step S536: If the sub-area is not switched, the terminal position estimate of the atomic area is used as the terminal position estimate in the server; Step S537: If the sub-area is switched, the terminal position estimate of the switched-in sub-area is used as the terminal position estimate in the server; Step S538: The server uploads the estimated position of the terminal in a single sub-area on the server, the sub-area, and the statistical information of the base station received signal strength to the host computer.

7. The multi-server multi-region positioning method of an arrival angle positioning system according to claim 1, characterized in that: The step S7 comprises the following steps: Step S71: The host computer determines the terminal's final location estimate and sub-area information based on the sub-area switching result; Step S72: If the sub-region is not switched, the terminal position estimate of the atomic region is used as the terminal position estimate in the host computer; Step S73: If the sub-area is switched, the position estimate of the terminal entering the sub-area is used as the terminal positioning estimate in the upper computer; Step S74: The upper computer uploads the terminal positioning estimate value and the sub-area information to the application layer according to the time interval Ts; or, the terminal positioning estimate value is Kalman filtered according to the time interval Ts, and the filter output result is used as the positioning estimate value of the positioning terminal.

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