Positioning method and apparatus, computer storage medium, and electronic device

Abstract

This disclosure relates to the field of communication technology and provides a positioning method, positioning device, computer storage medium, and electronic device. The positioning method includes: acquiring the strength of an indication signal emitted by an object to be positioned at various location points along the path of a moving terminal; determining the distance between the object to be positioned and each location point based on the strength of the indication signal; selecting three key points from a plurality of location points that satisfy preset conditions; the preset conditions include: the three key points are not on the same straight line; and determining the three-dimensional coordinates of the object to be positioned based on the three-dimensional coordinates of the three key points and the distance between the object to be positioned and the three key points. The positioning method of this disclosure can quickly determine the specific location of the object to be positioned.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a positioning method, positioning device, computer storage medium, and electronic device. Background Technology

[0002] Bluetooth positioning is now increasingly used in areas such as finding lost items, indoor positioning, indoor navigation, and locating valuables. Through Bluetooth tracking technology, users can find out how far away an item with a tracker is from the terminal.

[0003] However, the above solution can only roughly determine the direction of the item by the user's movement and find the item through multiple trials and errors. It cannot accurately determine the actual location of the item, and it cannot search for items across heights in large, multi-level venues.

[0004] Therefore, there is an urgent need in this field to develop a new positioning method and device.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure. Summary of the Invention

[0006] The purpose of this disclosure is to provide a positioning method, positioning device, computer storage medium, and electronic device, thereby overcoming, to at least a certain extent, the technical problem of being unable to accurately determine the actual location of the object to be positioned due to limitations in related technologies.

[0007] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0008] According to a first aspect of this disclosure, a positioning method is provided, comprising: acquiring the intensity of an indication signal emitted by an object to be positioned at various location points along the path of a terminal during movement; determining the distance between the object to be positioned and each location point based on the intensity of the indication signal; selecting three key points from a plurality of location points that satisfy preset conditions; the preset conditions including: the three key points are not on the same straight line; and determining the three-dimensional coordinates of the object to be positioned based on the three-dimensional coordinates of the three key points and the distance between the object to be positioned and the three key points.

[0009] In an exemplary embodiment of this disclosure, the step of obtaining the strength of the indication signal emitted by the object to be located at each location point along the path of the terminal during its movement includes: transmitting a positioning signal to the object to be located at each location point along the path of the terminal during its movement; receiving a response signal returned by the object to be located in response to the positioning signal; and determining the signal strength indicator (RSSI) of the response signal as the strength of the indication signal emitted by the object to be located.

[0010] In an exemplary embodiment of this disclosure, determining the distance between the object to be located and each location point based on the strength of the indication signal includes: obtaining the absolute value of the signal strength indicator RSSI and calculating the difference between the absolute value and a preset reference signal strength indicator; determining the distance between the object to be located and each location point based on the difference, a preset parameter, and an environmental attenuation factor; the environmental attenuation factor is used to balance the influence of environmental factors on the strength of the indication signal.

[0011] In an exemplary embodiment of this disclosure, determining the distance between the object to be located and each location point based on the difference, preset parameters, and environmental attenuation factor includes:

[0012] The distances between the object to be located and the various location points are determined based on the following formula:

[0013]

[0014] Where d represents the distance between the object to be located and each location point, |SSI|-A represents the difference, 10 is the preset parameter, and n represents the environmental attenuation factor.

[0015] In an exemplary embodiment of this disclosure, selecting three key points that satisfy preset conditions from a plurality of location points includes: obtaining a start point and an end point from the plurality of location points; randomly selecting a target location point from the remaining location points that is not on the same straight line as the start point and the end point; and determining the start point, the end point, and the target location point as the three key points that satisfy the preset conditions.

[0016] In an exemplary embodiment of this disclosure, selecting three key points satisfying preset conditions from a plurality of location points includes: obtaining a starting location point from the plurality of location points; randomly selecting a first target location point whose distance from the starting location point satisfies a preset distance condition; randomly selecting a second target location point from the remaining location points that is not on the same straight line as the starting location point and the first target location point; and determining the starting location point, the first target location point, and the second target location point as the three key points satisfying the preset conditions.

[0017] In an exemplary embodiment of this disclosure, determining the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points includes: constructing a ternary linear equation about the three-dimensional coordinates of the object to be located based on the position coordinates of each key point and the distance between the object to be located and each key point, combined with a preset distance calculation formula; solving the three ternary linear equations to obtain the three-dimensional coordinates of the object to be located.

[0018] According to a second aspect of this disclosure, a positioning device is provided, comprising: a signal strength acquisition module, configured to acquire the strength of an indication signal emitted by an object to be positioned at various location points along the path of a terminal during movement; a distance determination module, configured to determine the distance between the object to be positioned and each location point based on the strength of the indication signal; a key point selection module, configured to select three key points from a plurality of location points that satisfy preset conditions; the preset conditions include: the three key points are not on the same straight line; and a coordinate determination module, configured to determine the three-dimensional coordinates of the object to be positioned based on the three-dimensional coordinates of the three key points and the distance between the object to be positioned and the three key points.

[0019] According to a third aspect of this disclosure, a computer storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the positioning method described in the first aspect above.

[0020] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the positioning method described in the first aspect by executing the executable instructions.

[0021] As can be seen from the above technical solutions, the positioning method, positioning device, computer storage medium, and electronic device in the exemplary embodiments of this disclosure have at least the following advantages and positive effects:

[0022] In some embodiments of this disclosure, the technical solutions provided offer several advantages. First, compared to existing technologies that rely on trial and error to determine the approximate location of an object, this disclosure can quickly and accurately determine the three-dimensional coordinates of the object, thereby improving the speed of object retrieval. Second, this disclosure requires no additional cost; it only requires the use of a commonly installed IMU (Inertial Measurement Unit) module and Bluetooth device to quickly determine the three-dimensional coordinates of the object, achieving precise positioning. Furthermore, it is applicable to object retrieval scenarios in large areas with significant height differences.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0025] Figure 1 A flowchart illustrating the positioning method in an embodiment of this disclosure is shown;

[0026] Figure 2 This is a schematic diagram illustrating how, in an embodiment of the present disclosure, the strength of the indication signal emitted by the object to be located is obtained at each location point along the path of the terminal during its movement.

[0027] Figure 3 This is a flowchart illustrating how the distance between the object to be located and each location point is determined based on the strength of the indication signal in an embodiment of this disclosure.

[0028] Figure 4 This illustration shows another flowchart of selecting three key points that meet preset conditions from multiple location points in an embodiment of the present disclosure.

[0029] Figure 5 This illustration shows a flowchart of another embodiment of the present disclosure for selecting three key points from multiple location points that meet preset conditions;

[0030] Figure 6 This diagram illustrates a flowchart of how the three-dimensional coordinates of an object to be located are determined in an embodiment of this disclosure.

[0031] Figure 7 A schematic diagram of the positioning method in an embodiment of this disclosure is shown;

[0032] Figure 8 This diagram illustrates the structure of the positioning device in an exemplary embodiment of the present disclosure.

[0033] Figure 9 A schematic diagram of the structure of an electronic device in an exemplary embodiment of this disclosure is shown. Detailed Implementation

[0034] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0035] The terms “a,” “an,” “the,” and “the” are used in this specification to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markings and are not a limitation on the number of objects.

[0036] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0037] Bluetooth positioning is one of the fastest-growing technologies in the Bluetooth field, and it is now increasingly used in areas such as object finding, indoor positioning, indoor navigation, and asset tracking. The Bluetooth SIG is also constantly iterating Bluetooth technology, making positioning accuracy higher and higher, from the earliest simple Beacon positioning based on signal strength to multi-antenna viewpoint positioning supported by Bluetooth 5.1. Currently, various manufacturers have launched a variety of objects to be located for asset management, tracking, and object finding scenarios. With Bluetooth RSSI (Received Signal Strength Indication) technology, users can see how far away the item with the tracker is from their phone, and the tracker will sound an alert when the phone approaches the tracker to a certain range.

[0038] However, in this application scenario, users cannot obtain the actual location coordinates of the tracker. They can only roughly determine the direction by observing the increase or decrease in distance after moving the tracker, and gradually find it through trial and error. This has significant limitations and low accuracy. Furthermore, it cannot locate items across a certain height in large, multi-story venues (such as large shopping malls or large office buildings).

[0039] In the embodiments of this disclosure, a positioning method is first provided, which at least to some extent overcomes the defect in related technologies that cannot accurately determine the actual location of the object to be located.

[0040] Figure 1 The diagram shows a flowchart of the positioning method in an embodiment of this disclosure. The execution subject of the positioning method can be a server that positions the object to be located.

[0041] refer to Figure 1 The positioning method according to one embodiment of this disclosure includes the following steps:

[0042] Step S110: At each location point along the path of the terminal during its movement, obtain the strength of the indication signal emitted by the object to be located.

[0043] Step S120: Determine the distance between the object to be located and each location point based on the strength of the indication signal;

[0044] Step S130: Select three key points from multiple locations that meet preset conditions; the preset conditions include: the three key points are not on the same straight line.

[0045] Step S140: Based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points, determine the three-dimensional coordinates of the object to be located.

[0046] exist Figure 1 The technical solution provided in the illustrated embodiment, on the one hand, compared with the prior art's method of determining the approximate location range of the object to be located through continuous trial and error, this disclosure can quickly and accurately determine the three-dimensional coordinates of the object to be located, thereby improving the speed of object retrieval. Furthermore, this disclosure requires no additional cost; it only needs to utilize the IMU (Inertial Measurement Unit) module and Bluetooth device commonly found in terminals to quickly determine the three-dimensional coordinates of the object to be located, achieving precise positioning, and is applicable to object retrieval scenarios in large areas with height differences.

[0047] The following are Figure 1 The specific implementation process of each step in the process will be explained in detail:

[0048] Bluetooth Tracker is a technology that uses Bluetooth to locate objects. It helps people quickly and accurately track objects, locations, people, and other objects under their care. Bluetooth Tracker enables the entire process from location to tracking.

[0049] In step S110, the strength of the indication signal emitted by the object to be located is obtained at each location point along the route of the terminal during its movement.

[0050] In this step, the terminal can be any mobile device with Bluetooth functionality, and the terminal can be implemented in various forms. For example, mobile terminals such as mobile phones, tablets, laptops, PDAs, personal digital assistants (PDAs), portable media players, navigation devices, wearable devices, smart bracelets, and pedometers, as well as fixed terminals such as digital TVs and desktop computers, can be configured according to the actual situation, and this disclosure does not impose any special limitations on them.

[0051] The object to be located can be a device with Bluetooth functionality, or an item with Bluetooth functionality attached. This can be set according to the actual situation, and this disclosure does not impose any special restrictions on it.

[0052] refer to Figure 2 , Figure 2 This embodiment of the present disclosure illustrates a flowchart of how to obtain the strength of the indication signal emitted by the object to be located at each location point along the path of the terminal during its movement, including steps S201-S203:

[0053] In step S201, a positioning signal is transmitted to the object to be located at each location point along the route of the terminal during its movement.

[0054] In this step, we will use a mobile phone as an example to illustrate the concept, allowing the user to move while holding the phone. Upon starting to move, the terminal can initialize its coordinate system at its initial position, setting the coordinates P of the initial position to (0,0,0).

[0055] During the subsequent movement, the terminal can record the movement trajectory information in real time through the IMU module's PDR (Pedestrian Dead Reckoning, which measures and counts the number of steps, stride length, and direction of a pedestrian to calculate the pedestrian's walking trajectory and location information), and transmit positioning signals to the object to be located at each location point it passes through during the movement.

[0056] The aforementioned movement trajectory information may include the three-dimensional coordinates of each location point along the route, as well as the timestamps when passing each location point. By recording these timestamps, on the one hand, it is convenient to arrange the relevant information of multiple location points in an orderly manner according to the timestamps, which facilitates the orderly processing of subsequent data. On the other hand, it is convenient to identify whether the data of each location point is erroneous based on the timestamps (for example, if two locations are far apart but have the same timestamp, it can be determined that the data is erroneous), so as to eliminate invalid location points among the multiple location points and ensure the accuracy of the three-dimensional coordinates of the object to be located subsequently determined.

[0057] In step S202, a response signal to the positioning signal returned by the object to be located is received.

[0058] In this step, since the object to be located has Bluetooth functionality, or a device with Bluetooth functionality is attached to the object, the object to be located can send a response signal to the terminal after receiving the aforementioned location signal, and the terminal can receive the response signal.

[0059] In step S203, the signal strength indicator RSSI of the response signal is determined as the strength of the indicator signal emitted by the object to be located.

[0060] In this step, after receiving a response signal from the object to be located, the terminal can determine the strength of the indication signal emitted by the object as the Received Signal Strength Indication (RSSI). RSSI is a negative number. Generally, the farther the distance, the weaker the signal strength; the closer the distance, the stronger the signal strength.

[0061] After determining the strength of the indication signal, the process can proceed to step S120, where the distance between the object to be located and each location point is determined based on the strength of the indication signal.

[0062] In this step, refer to Figure 3 , Figure 3 This invention illustrates a flowchart of how to determine the distance between an object to be located and various location points based on the strength of an indication signal, as shown in this embodiment, including steps S301-S302:

[0063] In step S301, the absolute value of the signal strength indicator RSSI is obtained, and the difference between the absolute value and the preset reference signal strength indicator is calculated.

[0064] In this step, the preset reference signal strength can be represented as A, specifically, it can be set as the absolute value of RSSI when the distance to the object to be located is 1 meter.

[0065] Therefore, the absolute value of the signal strength indicator RSSI can be obtained, and then the difference between the absolute value and the preset reference signal strength indicator, i.e., |RSSI|-A, can be calculated.

[0066] In step S302, the distance between the object to be located and each location point is determined based on the difference, preset parameters, and environmental attenuation factor.

[0067] In this step, the distance between the object to be located and each location point can be determined based on the following formula 1:

[0068]

[0069] Where d represents the distance between the object to be located and each location point, |SSI|-A represents the above difference, 10 is a preset parameter, and n represents the environmental attenuation factor. The environmental attenuation factor is used to balance the influence of environmental factors on the strength of the indicator signal and can be a preset fixed value.

[0070] Next, refer to Figure 1 In step S130, three key points that meet the preset conditions are selected from multiple locations.

[0071] In this step, in one optional implementation, three points that are not on the same straight line can be randomly selected from multiple locations traversed during the terminal's movement as the aforementioned three key points. Alternatively, given that this disclosure records the timestamps of each location point, three points that are not traversed at the same time and are not on the same straight line can also be selected from the aforementioned multiple locations as the aforementioned three key points.

[0072] In another alternative implementation, refer to Figure 4 , Figure 4 This illustration shows another flowchart of selecting three key points that meet preset conditions from multiple location points in an embodiment of the present disclosure, including steps S401-S403:

[0073] In step S401, the starting position point and the ending position point are obtained from multiple position points.

[0074] In this step, the starting position point and the ending position point among the above multiple position points can be obtained. The starting position point can be the position where the terminal is before moving (for example, the starting position point can be the above-mentioned point P1), and the ending position point can be the position where the terminal last passed or the position where it is when it stopped moving.

[0075] In step S402, a target position point that is not on the same straight line as the starting position point and the ending position point is randomly selected from the remaining position points.

[0076] In this step, a target position point that is not on the same straight line as the above-mentioned starting and ending position points can be randomly selected from the remaining position points (other positions besides the above-mentioned starting and ending position points).

[0077] In step S403, the starting position point, the ending position point, and the target position point are determined as three key points that meet the preset conditions.

[0078] In this step, the above-mentioned starting position point, ending position point, and target position point can be selected as the three key points that meet the preset conditions.

[0079] In another alternative implementation, refer to Figure 5 , Figure 5 This illustration shows a flowchart of another embodiment of the present disclosure for selecting three key points from multiple location points that meet preset conditions, including steps S501-S504:

[0080] In step S501, the starting position point among multiple position points is obtained.

[0081] In this step, the starting position point can be determined from the above multiple position points. For example, the starting position point can be point P1 mentioned above.

[0082] In step S502, a first target location point is randomly selected whose distance from the starting location point meets the preset distance condition.

[0083] In this step, for example, a preset distance condition can be set, such as: the distance from the starting position point is greater than 2 meters (this can be set according to the actual situation, and this disclosure does not make any special limitation on this), so that this disclosure can select the first target position point from the position points that are more than 2 meters away from the starting position point.

[0084] In step S503, a second target position point that is not on the same straight line as the starting position point and the first target position point is randomly selected from the remaining position points.

[0085] In this step, after selecting the starting position point and the first target position point, a second target position point can be randomly selected from the remaining position points. The second target position point, the starting position point, and the first target position point are not on the same straight line.

[0086] In step S504, the starting position point, the first target position point, and the second target position point are determined as three key points that meet the preset conditions.

[0087] In this step, the starting position point, the first target position point, and the second target position point can be identified as the three key points that meet the preset conditions.

[0088] Next, refer to Figure 1 In step S140, the three-dimensional coordinates of the object to be located are determined based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points.

[0089] In this step, refer to Figure 6 , Figure 6 This diagram illustrates a flowchart of how the three-dimensional coordinates of an object to be located are determined in an embodiment of this disclosure, including steps S601-S602:

[0090] In step S601, based on the position coordinates of each key point and the distance between the object to be located and each key point, a ternary linear equation for the three-dimensional coordinates of the object to be located is constructed using a preset distance calculation formula.

[0091] In this step, since the three-dimensional coordinates of each location point along the path of the terminal during movement have been pre-recorded in steps S110 and S120, and the distance between the object to be located and each location point has been pre-calculated, in this step, after determining the above three key points, a three-variable linear equation for the three-dimensional coordinates of the object to be located can be directly constructed based on the position coordinates of each key point and the distance between the object to be located and each key point, combined with the distance calculation formula in three-dimensional space.

[0092] Given that this disclosure obtains three key points and determines three distances between the object to be located and the three key points, it is possible to construct three ternary linear equations about the three-dimensional coordinates of the object to be located.

[0093] In step S602, three ternary linear equations are solved to obtain the three-dimensional coordinates of the object to be located.

[0094] In this step, the three ternary linear equations mentioned above can be solved to obtain the three-dimensional coordinates of the object to be located.

[0095] Therefore, compared to existing technologies that rely on trial and error to determine the approximate location of an object, this disclosure can quickly and accurately determine the three-dimensional coordinates of the object, thereby improving the speed of object locating. Furthermore, this disclosure requires no additional cost; it only needs to utilize the commonly found IMU module and Bluetooth device in terminals to quickly determine the three-dimensional coordinates of the object, achieving precise positioning. It can also achieve positioning in large scenes with significant height differences, resulting in better positioning performance in practical applications and a wide range of applicability.

[0096] refer to Figure 7 , Figure 7 The diagram below illustrates the positioning method in an embodiment of this disclosure. Figure 7The specific implementation methods of this disclosure are described below:

[0097] First, the coordinates of N points on the pre-recorded PDR trajectory can be obtained. And, obtain the timestamp of each location point along the way.

[0098] Based on the strength of the indication signals received from the above N location points, determine the distance between the object to be located (shown as a tag in the figure) and each of the location points;

[0099] Select three key points from the above N locations that have different transit times and are not on the same straight line, for example: P 1 P 2 P 3 ;

[0100] Therefore, assume P 1 The three-dimensional coordinates of the point are (x 1 ,y 1 ,z 1 ),P 2 The three-dimensional coordinates of the point are (x 2 ,y 2 ,z 2 ), P 3 The three-dimensional coordinates of the point are (x 3 ,y 3 ,z 3 Furthermore, the object to be located and P 1 The distance between the points is d 1 The object to be located and P 2 The distance between the points is d 2 The object to be located and P 3 The distance between the points is d 3 Let P be the three-dimensional coordinates of the object to be located. tag =(x ,ag ,y tag ,z tag Then, based on the distance calculation formula in three-dimensional space, the following system of equations can be constructed:

[0101]

[0102] Solving the above system of equations will yield the three-dimensional coordinates P of the object to be located. tag =(x tag ,y tag ,z tag ).

[0103] This disclosure introduces a PDR (Progressive Directional Tracking) trajectory into Bluetooth tracker positioning. It enables the location of the target object by using three non-collinear key points at three different times along the PDR trajectory. This solves a problem inherent in current mainstream Bluetooth tracker solutions where users cannot obtain the tracker's actual coordinates and can only roughly determine direction by observing distance changes after movement. This approach addresses the pain points of trackers through trial and error, allowing for accurate determination of the tracker's three-dimensional coordinates and precise object location. It is suitable for scenarios involving finding objects in large areas with significant height differences.

[0104] This disclosure also provides a positioning device. Figure 8 This diagram illustrates the structure of the positioning device in an exemplary embodiment of the present disclosure; as shown below. Figure 8 As shown, the positioning device 800 may include a signal strength acquisition module 810, a distance determination module 820, a key point selection module 830, and a coordinate determination module 840. Wherein:

[0105] The signal strength acquisition module 810 is used to acquire the strength of the indication signal emitted by the object to be located at each location point along the way during the movement of the terminal.

[0106] The distance determination module 820 is used to determine the distance between the object to be located and each location point based on the strength of the indication signal.

[0107] The key point selection module 830 is used to select three key points from a plurality of location points that meet preset conditions; the preset conditions include: the three key points are not on the same straight line;

[0108] The coordinate determination module 840 is used to determine the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points.

[0109] In an exemplary embodiment of this disclosure, the signal strength acquisition module 810 acquires the strength of the indication signal emitted by the object to be located at each location point along the path the terminal passes during its movement, including: transmitting a positioning signal to the object to be located at each location point along the path the terminal passes during its movement; receiving a response signal returned by the object to be located in response to the positioning signal; and determining the signal strength indicator (RSSI) of the response signal as the strength of the indication signal emitted by the object to be located.

[0110] In an exemplary embodiment of this disclosure, the distance determination module 820 determines the distance between the object to be located and each location point based on the strength of the indication signal, including: obtaining the absolute value of the signal strength indicator RSSI and calculating the difference between the absolute value and a preset reference signal strength indicator; determining the distance between the object to be located and each location point based on the difference, a preset parameter, and an environmental attenuation factor; the environmental attenuation factor is used to balance the influence of environmental factors on the strength of the indication signal.

[0111] In an exemplary embodiment of this disclosure, the distance determination module 820 determines the distance between the object to be located and each location point based on the difference, preset parameters, and environmental attenuation factor, including:

[0112] The distances between the object to be located and the various location points are determined based on the following formula:

[0113]

[0114] Where d represents the distance between the object to be located and each location point, |SSI|-A represents the difference, 10 is the preset parameter, and n represents the environmental attenuation factor.

[0115] In an exemplary embodiment of this disclosure, the key point selection module 830 selects three key points that satisfy preset conditions from a plurality of location points, including: obtaining a start point and an end point from the plurality of location points; randomly selecting a target location point from the remaining location points that is not on the same straight line as the start point and the end point; and determining the start point, the end point, and the target location point as the three key points that satisfy the preset conditions.

[0116] In an exemplary embodiment of this disclosure, the key point selection module 830 selects three key points that satisfy preset conditions from a plurality of location points, including: obtaining a starting location point from the plurality of location points; randomly selecting a first target location point whose distance from the starting location point satisfies a preset distance condition; randomly selecting a second target location point from the remaining location points that is not on the same straight line as the starting location point and the first target location point; and determining the starting location point, the first target location point, and the second target location point as the three key points that satisfy the preset conditions.

[0117] In an exemplary embodiment of this disclosure, the coordinate determination module 840 determines the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points. This includes: constructing a ternary linear equation about the three-dimensional coordinates of the object to be located based on the position coordinates of each key point and the distance between the object to be located and each key point, combined with a preset distance calculation formula; and solving the three ternary linear equations to obtain the three-dimensional coordinates of the object to be located.

[0118] The specific details of each module in the above positioning device have been described in detail in the corresponding positioning method, so they will not be repeated here.

[0119] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0120] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0121] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0122] This application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device.

[0123] Computer-readable storage media can be, for example—but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0124] Computer-readable storage media can be sent, propagated, or transmitted for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0125] A computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to perform the methods described in the above embodiments.

[0126] Furthermore, this disclosure also provides an electronic device capable of implementing the above-described method.

[0127] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0128] The following reference Figure 9 To describe an electronic device 900 according to such an embodiment of the present disclosure. Figure 9 The electronic device 900 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0129] like Figure 9 As shown, the electronic device 900 is manifested in the form of a general-purpose computing device. The components of the electronic device 900 may include, but are not limited to: at least one processing unit 910, at least one storage unit 920, a bus 930 connecting different system components (including storage unit 920 and processing unit 910), and a display unit 940.

[0130] The storage unit stores program code that can be executed by the processing unit 910, causing the processing unit 910 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 910 can perform actions such as... Figure 1 As shown: Step S110, acquire the strength of the indication signal emitted by the object to be located at each location point along the path of the terminal during its movement; Step S120, determine the distance between the object to be located and each location point based on the strength of the indication signal; Step S130, select three key points from multiple locations that meet preset conditions; the preset conditions include: the three key points are not on the same straight line; Step S140, determine the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points.

[0131] Storage unit 920 may include readable media in the form of volatile storage units, such as random access memory (RAM) 9201 and / or cache memory 9202, and may further include read-only memory (ROM) 9203.

[0132] Storage unit 920 may also include a program / utility 9204 having a set (at least one) program module 9205, such program module 9205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0133] Bus 930 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0134] Electronic device 900 can also communicate with one or more external devices 1000 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 900, and / or with any device that enables electronic device 900 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 950. Furthermore, electronic device 900 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 960. As shown, network adapter 960 communicates with other modules of electronic device 900 via bus 930. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0135] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

Claims

1. A positioning method, characterized by, include: At each location point along the way during the terminal's movement, a positioning signal is transmitted to the object to be located; Receive the response signal returned by the object to be located in response to the location signal; The signal strength indicator RSSI of the response signal is determined as the strength of the indication signal emitted by the object to be located; Based on the strength of the indication signal, the distance between the object to be located and each location point is determined; Determining the distance between the object to be located and each location point based on the strength of the indication signal includes: Obtain the absolute value of the signal strength indicator RSSI, and calculate the difference between the absolute value and a preset reference signal strength indicator; Based on the difference, preset parameters, and environmental attenuation factor, the distance between the object to be located and each location point is determined; The environmental attenuation factor is used to balance the influence of environmental factors on the strength of the indication signal; Select three key points from the plurality of location points that meet preset conditions; the preset conditions include: the three key points are not on the same straight line; The three-dimensional coordinates of the object to be located are determined based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points.

2. The method of claim 1, wherein, The step of determining the distance between the object to be located and each location point based on the difference, preset parameters, and environmental attenuation factor includes: The distances between the object to be located and the various location points are determined based on the following formula: wherein d represents the distance between the object to be positioned and the respective position point, wherein d represents the distance between the object to be positioned and the respective position point, 3. The method of claim 1, wherein, The step of selecting three key points that satisfy preset conditions from the plurality of location points includes: Obtain the start and end positions from the plurality of positions; Randomly select a target position point from the remaining position points that is not on the same straight line as the starting position point and the ending position point; The starting point, the ending point, and the target point are determined as the three key points that satisfy the preset conditions.

4. The method of claim 1, wherein, The step of selecting three key points that satisfy preset conditions from the plurality of location points includes: Obtain the starting position point among the plurality of position points; Randomly select a first target location point whose distance from the starting location point meets a preset distance condition; Randomly select a second target location point from the remaining location points that is not on the same straight line as the starting location point and the first target location point; The starting position point, the first target position point, and the second target position point are determined as the three key points that satisfy the preset conditions.

5. The method according to any one of claims 1 to 4, characterized in that, Determining the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points includes: Based on the position coordinates of each key point and the distance between the object to be located and each key point, and combined with a preset distance calculation formula, a three-dimensional linear equation with three variables is constructed regarding the three-dimensional coordinates of the object to be located. Solve the three linear equations in three variables to obtain the three-dimensional coordinates of the object to be located.

6. A positioning device, characterized in that include: The signal strength acquisition module is used to acquire the strength of the indication signal emitted by the object to be located at each location point along the way during the movement of the terminal. The signal strength acquisition module is used to transmit positioning signals to the object to be located at various locations along the way of the terminal during its movement. Receive the response signal returned by the object to be located in response to the location signal; The signal strength indicator RSSI of the response signal is determined as the strength of the indication signal emitted by the object to be located; A distance determination module is used to determine the distance between the object to be located and each location point based on the strength of the indication signal; The distance determination module is used to obtain the absolute value of the signal strength indicator RSSI and calculate the difference between the absolute value and a preset reference signal strength indicator. Based on the difference, preset parameters, and environmental attenuation factor, the distance between the object to be located and each location point is determined; The environmental attenuation factor is used to balance the influence of environmental factors on the strength of the indication signal; The key point selection module is used to select three key points that meet preset conditions from a plurality of location points; The preset condition includes: the three key points are not on the same straight line; The coordinate determination module is used to determine the three-dimensional coordinates of the object to be located based on the three-dimensional coordinates of the three key points and the distance between the object to be located and the three key points.

7. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the positioning method according to any one of claims 1 to 5.

8. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the positioning method according to any one of claims 1 to 5 by executing the executable instructions.

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