Fusion navigation positioning method and system based on Bluetooth

Abstract

The present invention discloses a fusion navigation positioning method and system based on Bluetooth. The fusion navigation positioning method based on Bluetooth includes the following steps: analyzing the Bluetooth positioning result of the target device, and then analyzing the Bluetooth monitoring operation result of the target device; analyzing the ultrasonic positioning result of the target device, and then analyzing the ultrasonic monitoring operation result of the target device; analyzing the fusion positioning result of the target device to generate the best navigation route; analyzing the fusion operation result of the target device, predicting the position change of the target device and providing navigation prompts to the user. The present invention fuses the Bluetooth positioning result and the ultrasonic positioning result data to analyze the fusion positioning result data of the target device, thereby making full use of their advantages, mutually correcting errors, and making up for each other's shortcomings, thereby improving the navigation positioning accuracy based on Bluetooth, and solving the problem of limited navigation positioning accuracy in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a Bluetooth-based fusion navigation and positioning method and system. Background Art

[0002] With the continuous advancement of science and technology, the demand for intelligent positioning is increasing, and various navigation and positioning technologies are gradually changing our lives; Bluetooth navigation and positioning is a technology that uses Bluetooth signals for indoor positioning and navigation. By measuring the Bluetooth signal strength of surrounding devices and combining map data and path planning algorithms, users can achieve accurate positioning and navigation in indoor environments. With the rise of smart homes, smart cities and other fields, the application scenarios of Bluetooth navigation and positioning are also constantly expanding; fusion navigation and positioning technology refers to a technology that combines multiple positioning technologies and sensor data information to improve positioning accuracy and coverage. With the rise of applications such as intelligent transportation, unmanned driving, and indoor navigation, the demand for high-precision and stable navigation and positioning technologies continues to increase, which has promoted the development of fusion navigation and positioning.

[0003] At present, there are many aspects of research on navigation and positioning. For example, Chinese invention patent CN114509069A discloses an indoor navigation and positioning system based on the fusion of Bluetooth AOA and I MU. The indoor navigation and positioning system based on the fusion of Bluetooth AOA and I MU includes an I MU sensor, an I MU position calculation unit, a Bluetooth AOA sensor, a Bluetooth AOA position calculation unit and a fusion position calculation unit. The fusion positioning algorithm based on extended Kalman filtering is used to combine Bluetooth AOA and I MU. The data obtained by MU is used as the prior information of the filtering algorithm, and the data obtained by Bluetooth AOA is used as the observation information of the filtering algorithm. By utilizing the advantages of each, the navigation and positioning accuracy of the fusion positioning system can be effectively improved, and the high-precision indoor navigation and positioning of the target can be achieved by using a few base stations, so as to realize its application in the high-precision indoor navigation and positioning scene requirements; For example, Chinese invention patent CN117119585A discloses a Bluetooth positioning and navigation system and method, which includes a user terminal, a Beacon base station, a service robot, a Bluetooth AOA base station and a positioning server. The service robot is distributed in the target building, carries a Bluetooth module for sending a second Bluetooth signal to the Bluetooth AOA base station, and also carries a signal receiving module for receiving the positioning signal and movement instruction of the positioning server to realize intelligent distribution and provide services when meeting with the user terminal. The present invention comprehensively utilizes Beacon base stations, Bluetooth AOA base stations, service robots and positioning servers to realize the integration of positioning, navigation and intelligent services, realizes outdoor user guidance, and provides accurate positioning and navigation support for users and robots in indoor environments, greatly improving the efficiency and convenience of positioning and navigation.

[0004] However, the current Bluetooth-based navigation and positioning technology is based on the strength and distance calculation of the Bluetooth signal. Due to the limited transmission distance of the Bluetooth signal, the small effective coverage range of the signal, and the fact that the Bluetooth signal is easily affected by environmental interference and multipath effects, the accuracy of the Bluetooth-based navigation and positioning is subject to certain limitations.

[0005] Therefore, in summary, the existing technology has the problem of limited navigation positioning accuracy. Summary of the invention

[0006] The embodiments of the present application solve the problem of limited navigation positioning accuracy in the prior art by providing a Bluetooth-based fusion navigation positioning method and system, thereby improving the Bluetooth-based navigation positioning accuracy.

[0007] The embodiment of the present application provides a Bluetooth-based fusion navigation and positioning method, comprising the following steps: receiving a Bluetooth signal emitted from a Bluetooth beacon at a known position through a Bluetooth receiver of a target device, analyzing the distance from the target device to each Bluetooth beacon, and then analyzing the Bluetooth positioning result of the target device, monitoring the Bluetooth positioning result of the target device in real time, and analyzing the Bluetooth monitoring operation result of the target device; emitting and receiving ultrasonic signals through an ultrasonic sensor at a known position, analyzing the distance from each ultrasonic sensor to the target device, analyzing the ultrasonic positioning result of the target device, monitoring the ultrasonic positioning result of the target device in real time, and analyzing the ultrasonic monitoring operation result of the target device; fusing the Bluetooth positioning result and the ultrasonic positioning result data, analyzing the fusion positioning result data of the target device, matching the fusion positioning result data of the target device with a map database, and using a path planning algorithm to generate an optimal navigation route; fusing the Bluetooth monitoring operation result and the ultrasonic monitoring operation result to obtain a fusion operation result, using the fusion operation result of the target device to predict the position change of the target device, and providing navigation instructions to the user according to the position change of the target device.

[0008] Furthermore, the specific method for analyzing the Bluetooth positioning result of the target device is as follows: before analyzing the Bluetooth positioning result of the target device, the Bluetooth beacons are numbered; all Bluetooth beacons transmit Bluetooth signals at the same time, the Bluetooth signal transmission time point data and the arrival time point data of the Bluetooth signal transmitted by the Bluetooth beacons are obtained, and the time required for the Bluetooth signal sent by each Bluetooth beacon to reach the target device is measured; the propagation speed of the Bluetooth signal transmitted by each Bluetooth beacon is obtained, and the distance between the target device and each Bluetooth beacon is analyzed according to the time required for the Bluetooth signal sent by the corresponding Bluetooth beacon to reach the target device; the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon are obtained. The method uses the position data of the Bluetooth beacon, and the distance data from the target device to the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon are obtained at the same time, and the first Bluetooth positioning result solution space of the target device is analyzed; by continuously selecting the position data of the remaining Bluetooth beacons and the distance data from the target device to the corresponding Bluetooth beacon, the second Bluetooth positioning result solution space of the target device is analyzed, and compared with the first Bluetooth positioning result solution space of the target device, the Bluetooth positioning result solution space of the target device is continuously refined; when the Bluetooth positioning result solution space of the target device is reduced to less than or equal to the first threshold, the positioning result solution space is determined to be the Bluetooth positioning result of the target device.

[0009] Furthermore, the specific method for analyzing the Bluetooth monitoring operation results of the target device is: starting from the starting position of the target device, the time is divided into time slices of fixed length, the starting time of all time slices is used as the time point, and all time points are numbered; by analyzing the distance between the Bluetooth positioning results of the target device in two consecutive time points, combined with the time interval between the two time points, the real-time running speed Bluetooth monitoring result of the target device is analyzed; based on the real-time running speed Bluetooth monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time running acceleration Bluetooth monitoring result of the target device is analyzed; by analyzing the horizontal axis change amount and vertical axis change rate of the Bluetooth positioning results of the target device in two consecutive time points, the real-time running direction Bluetooth monitoring result of the target device is analyzed; based on the Bluetooth positioning result, real-time running speed, real-time running direction and real-time running acceleration of the target device, the Bluetooth predicted position of the target device is analyzed.

[0010] Furthermore, the specific method for analyzing the ultrasonic positioning result of the target device is as follows: before analyzing the ultrasonic positioning result of the target device, the ultrasonic sensors are numbered; the ultrasonic signal emission time point data emitted by each ultrasonic sensor is obtained, and the return time point data of the ultrasonic signal returning to the sensor after reaching the target device is obtained, and the time required for the ultrasonic signal sent by each sensor to return to the corresponding sensor after reaching the target device is measured; the propagation speed of the ultrasonic signal emitted by each ultrasonic sensor is obtained, and the distance between the target device and each ultrasonic sensor is analyzed according to the time required for the ultrasonic signal sent by each sensor to return to the corresponding sensor after reaching the target device; the first ultrasonic sensor, the second ultrasonic sensor, and the second ultrasonic sensor are obtained. The position data of the sonic sensor and the third ultrasonic sensor are obtained, and the distance data from the target device to the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are obtained at the same time, and the first ultrasonic positioning result solution space of the target device is analyzed; by continuously selecting the position data of the remaining ultrasonic sensors and the distance data from the target device to the corresponding ultrasonic sensor, the second ultrasonic positioning result solution space of the target device is analyzed, and compared with the first ultrasonic positioning result solution space of the current target device, the ultrasonic positioning result solution space of the target device is continuously refined; when the ultrasonic positioning result solution space of the target device is reduced to less than or equal to the first threshold, it can be determined that the positioning result range is the ultrasonic positioning result of the target device.

[0011] Furthermore, the specific method for analyzing the ultrasonic monitoring operation results of the target device is: starting from the starting position of the target device, the time is divided into time slices of fixed length, the starting time of all time slices is used as the time point, and all time points are numbered; by analyzing the distance between the ultrasonic positioning results of the target device in two consecutive time points, combined with the time interval between the two time points, the real-time running speed ultrasonic monitoring results of the target device are analyzed; based on the real-time running speed ultrasonic monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time running acceleration ultrasonic monitoring results of the target device are analyzed; by analyzing the horizontal axis change amount and the vertical axis change rate of the ultrasonic positioning results of the target device in two consecutive time points, the real-time running direction ultrasonic monitoring results of the target device are analyzed; based on the ultrasonic positioning results, real-time running speed, real-time running direction and real-time running acceleration of the target device, the ultrasonic predicted position of the target device is analyzed.

[0012] Furthermore, the specific method for fusing the Bluetooth positioning result and the ultrasonic positioning result data is: obtaining the Bluetooth positioning result and the ultrasonic positioning result of the target device, and constructing a fusion positioning result calculation formula based on them; calculating the fusion positioning result according to the fusion positioning result calculation formula; the fusion positioning result calculation formula is: In the formula, R x and Ry are the horizontal and vertical coordinates of the target device’s fused positioning result, respectively; X and Y are the horizontal and vertical coordinates of the target device’s Bluetooth positioning result, respectively; x and y are the horizontal and vertical coordinates of the target device’s ultrasonic positioning result, respectively; δ1 and δ2 are the weight ratios of the Bluetooth positioning result and the ultrasonic positioning result to the fused positioning result, respectively.

[0013] Furthermore, the specific method for matching the fused positioning result data of the target device with the map database is: obtaining the fused positioning result data of the target device, matching the fused positioning result data of the target device with the map data, and determining the actual position of the fused positioning result of the target device on the map; determining the navigation starting point and the navigation end point of the target device, the navigation starting point being the actual position of the fused positioning result of the target device on the map, and the navigation end point being the position specified by the user on the map; performing a road search on the map according to the navigation starting point and the navigation end point, and using a path planning algorithm to analyze the best navigation route.

[0014] Furthermore, the specific method of using the path planning algorithm to analyze the best navigation route is: obtain map data from the navigation starting point to the navigation end point of the target device, represent the road network structure in the map data as a graph structure, each node of the graph is an intersection, and the edge of the graph is a road; evaluate each edge in the graph according to the road length, road width, and the current number of vehicles on the road to obtain the edge weight of each edge; use the shortest path search algorithm, combined with the edge weight of the graph, to analyze the best navigation route.

[0015] Furthermore, the specific method of providing navigation instructions to the user according to the position change of the target device is: obtaining the Bluetooth monitoring operation result and the ultrasonic monitoring operation result of the target device, and constructing a fusion operation result calculation formula based on them; calculating the fusion operation result according to the fusion operation result calculation formula; the fusion operation result calculation formula is: Where V k is the fusion running speed of the target device at the kth time point, is the real-time running speed Bluetooth monitoring result of the target device at the kth time point, k is the time point number, k = 1, 2, 3, ..., k0, k0 is the total number of time points, is the real-time running speed ultrasonic monitoring result of the target device at the kth time point, β k is the fusion operation direction of the target device at the kth time point, The real-time running direction Bluetooth monitoring result of the target device at the kth time point, is the real-time ultrasonic monitoring result of the target device at the kth time point in its running direction, X k and Y k are the horizontal and vertical coordinates of the fusion prediction position of the target device at the kth time point, and are the horizontal and vertical coordinates of the Bluetooth predicted position of the target device at the kth time point, and are the horizontal and vertical coordinates of the ultrasonic predicted position of the target device at the kth time point, and ε1 and ε2 are the weight proportions of the Bluetooth monitoring operation results and the ultrasonic monitoring operation results to the fusion operation results.

[0016] The embodiment of the present application provides a fusion navigation and positioning system based on Bluetooth, which includes: a Bluetooth positioning monitoring module, an ultrasonic positioning monitoring module, a positioning result fusion module, a navigation planning module and a navigation indication module; wherein the Bluetooth positioning monitoring module is used to receive the Bluetooth signal emitted from the Bluetooth beacon at a known position through the Bluetooth receiver of the target device, analyze the distance from the target device to each Bluetooth beacon, and then analyze the Bluetooth positioning result of the target device, monitor the Bluetooth positioning result of the target device in real time, and analyze the Bluetooth monitoring operation result of the target device; the ultrasonic positioning monitoring module is used to transmit and receive ultrasonic signals through the ultrasonic sensor at a known position, analyze the distance from each ultrasonic sensor to the target device, and analyze the distance from each ultrasonic sensor to the target device. The device is located at a distance from the target device, analyzes the ultrasonic positioning result of the target device, monitors the ultrasonic positioning result of the target device in real time, and analyzes the ultrasonic monitoring operation result of the target device; the navigation planning module is used to fuse the Bluetooth positioning result and the ultrasonic positioning result data, analyze the fused positioning result data of the target device, match the fused positioning result data of the target device with the map database, and use the path planning algorithm to generate the best navigation route; the navigation instruction module is used to fuse the Bluetooth monitoring operation result and the ultrasonic monitoring operation result to obtain the fused operation result, and use the fused operation result of the target device to predict the position change of the target device, and provide navigation instructions to the user according to the position change of the target device.

[0017] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0018] 1. By fusing the Bluetooth positioning results and the ultrasonic positioning result data, the fused positioning result data of the target device is analyzed, so as to make full use of their advantages, correct errors with each other, make up for each other's shortcomings, and thus improve the navigation positioning accuracy based on Bluetooth, solving the problem of limited navigation positioning accuracy in the existing technology.

[0019] 2. By fusing the Bluetooth monitoring operation results and the ultrasonic monitoring operation results to obtain the fused operation results, the fused operation results of the target device are used to predict the position change of the target device, thereby providing navigation instructions to the user based on the position change of the target device, thereby achieving more accurate and real-time navigation instructions to adapt to a wider range of positioning scenarios.

[0020] 3. By transmitting and receiving ultrasonic signals through ultrasonic sensors with known positions, the distance from each ultrasonic sensor to the target device is analyzed, thereby analyzing the ultrasonic positioning result of the target device, thereby providing stable and reliable positioning results for subsequent fusion with Bluetooth positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of a Bluetooth-based fusion navigation and positioning method provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of a Bluetooth-based fusion navigation and positioning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application solve the problem of limited navigation and positioning accuracy in the prior art by providing a Bluetooth-based fusion navigation and positioning method and system. The Bluetooth positioning result and the ultrasonic positioning result data are fused and the fusion positioning result data of the target device is analyzed, thereby making full use of their advantages, correcting errors with each other, and making up for each other's shortcomings, thereby improving the navigation and positioning accuracy based on Bluetooth.

[0024] The technical solution in the embodiment of the present application is to solve the above-mentioned problem of limited navigation positioning accuracy, and the overall idea is as follows:

[0025] The target device receives the Bluetooth signal emitted by the surrounding Bluetooth beacon through the Bluetooth receiver. After receiving the Bluetooth signal, the Bluetooth signal data needs to be processed to analyze the distance information between the target device and the Bluetooth beacon; the Bluetooth positioning result of the target device is analyzed by combining the distance information between the target device and the Bluetooth beacon; the Bluetooth monitoring operation result is analyzed by monitoring the distance change between the target device and the Bluetooth beacon; the ultrasonic sensor at a known position receives and transmits ultrasonic signals, analyzes the distance from each ultrasonic sensor to the target device, and analyzes the ultrasonic positioning result of the target device; the ultrasonic monitoring operation result is analyzed by monitoring the distance change between the target device and the ultrasonic sensor; according to the Bluetooth positioning accuracy index and the ultrasonic positioning accuracy index, the Bluetooth positioning result and the ultrasonic positioning result data are fused to obtain the final positioning information of the target device, and the final positioning information of the target device is matched with the map database, and the path planning algorithm is used to generate the best navigation route; according to the Bluetooth positioning accuracy index and the ultrasonic positioning accuracy index, the Bluetooth monitoring operation result and the ultrasonic detection operation result are fused, and the target device operation result is analyzed to estimate the position change of the target device, and the user is provided with navigation instructions according to the position change of the target device, so as to improve the navigation positioning accuracy based on Bluetooth.

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] like Figure 1 As shown, it is a flow chart of the Bluetooth-based fusion navigation and positioning method provided in an embodiment of the present application. The method is applied to a Bluetooth-based fusion navigation and positioning system. The method includes the following steps: analyzing the Bluetooth positioning result of the target device, and analyzing the Bluetooth monitoring operation result of the target device according to the real-time Bluetooth positioning result of the target device: receiving the Bluetooth signal emitted by the Bluetooth beacon at a known position through the Bluetooth receiver of the target device, analyzing the distance from the target device to each Bluetooth beacon, and then analyzing the Bluetooth positioning result of the target device, monitoring the Bluetooth positioning result of the target device in real time, and analyzing the Bluetooth monitoring operation result of the target device; analyzing the ultrasonic positioning result of the target device, and analyzing the ultrasonic monitoring operation result of the target device according to the real-time ultrasonic positioning result of the target device: transmitting and receiving ultrasonic signals through an ultrasonic sensor at a known position, and analyzing The distance between each ultrasonic sensor and the target device is used to analyze the ultrasonic positioning result of the target device, the ultrasonic positioning result of the target device is monitored in real time, and the ultrasonic monitoring operation result of the target device is analyzed; the fusion positioning result of the target device is analyzed to generate the best navigation route: the Bluetooth positioning result and the ultrasonic positioning result data are integrated, and the fusion positioning result data of the target device is analyzed, and the fusion positioning result data of the target device is matched with the map database, and the path planning algorithm is used to generate the best navigation route; the fusion operation result of the target device is analyzed, and the position change of the target device is predicted to provide navigation prompts for the user: the Bluetooth monitoring operation result and the ultrasonic monitoring operation result are integrated to obtain the fusion operation result, and the fusion operation result of the target device is used to predict the position change of the target device, and provide navigation instructions for the user according to the position change of the target device.

[0028] In this embodiment, the Bluetooth beacon includes a Bluetooth signal transmitter for sending Bluetooth signals, which is set at different positions in the area to be located, and the set number is not less than three. The set number of Bluetooth beacons can send Bluetooth signals at the same time. The target device includes a Bluetooth signal receiver for receiving and identifying Bluetooth signals. When the Bluetooth beacon transmits a Bluetooth signal, the target device will receive the Bluetooth signal through the Bluetooth signal receiver; the ultrasonic sensor is used to transmit ultrasonic signals and also to receive ultrasonic signals that return to the corresponding ultrasonic sensor after reaching the target device. The ultrasonic sensor is set at different positions in the area to be located, and the set number is not less than three. The target device can reflect the ultrasonic signals emitted by all ultrasonic sensors; the ultrasonic sensor can provide higher positioning accuracy, especially for short-range positioning. By using ultrasonic sensors to obtain the positioning results of the target device, more accurate and more precise positioning can be achieved to meet the needs of high-precision positioning. Ultrasonic positioning is relatively less susceptible to environmental factors and has better sensitivity to the position changes of the target device, and can provide stable and reliable positioning results; the fusion operation result is a new result obtained by fusion of the results of the two models of Bluetooth monitoring operation results and ultrasonic monitoring operation results.

[0029] Furthermore, a specific method for analyzing the Bluetooth positioning result of the target device is as follows: before analyzing the Bluetooth positioning result of the target device, the Bluetooth beacons are numbered; all Bluetooth beacons transmit Bluetooth signals at the same time, the Bluetooth signal transmission time point data and the arrival time point data of the Bluetooth signal transmitted by the Bluetooth beacons are obtained, and the time required for the Bluetooth signal transmitted by each Bluetooth beacon to reach the target device is measured; the propagation speed of the Bluetooth signal transmitted by each Bluetooth beacon is obtained, and the distance between the target device and each Bluetooth beacon is analyzed according to the time required for the Bluetooth signal transmitted by the corresponding Bluetooth beacon to reach the target device; the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon are obtained. The method uses the position data of the target device and the distance data from the target device to the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon to analyze the first Bluetooth positioning result solution space of the target device; by continuously selecting the position data of the remaining Bluetooth beacons and the distance data from the target device to the corresponding Bluetooth beacon, the second Bluetooth positioning result solution space of the target device is analyzed, and compared with the first Bluetooth positioning result solution space of the target device, the Bluetooth positioning result solution space of the target device is continuously refined; when the Bluetooth positioning result solution space of the target device is reduced to less than or equal to the first threshold, the positioning result solution space is determined to be the Bluetooth positioning result of the target device.

[0030] In this embodiment, the distance between the target device and the Bluetooth beacon i is: D i =C i *ΔT i Where D iis the distance between the target device and Bluetooth beacon i, i is the Bluetooth tag number, i=1,2,3,...,i0, i0 is the total number of Bluetooth tags, i0≥3, C i is the propagation speed of the Bluetooth signal emitted by Bluetooth beacon i, ΔT i is the time required for the Bluetooth signal sent by Bluetooth beacon i to reach the target device; the known position of the first Bluetooth beacon is used as the coordinate origin, the coordinate axis is established, and the calculation formula of the Bluetooth positioning result solution space of the target device is: In the formula, D1, D2 and D3 are the distances from the target device to the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon respectively, X1 and Y1 are the horizontal and vertical coordinates of the position of the first Bluetooth beacon respectively, X2 and Y2 are the horizontal and vertical coordinates of the position of the second Bluetooth beacon respectively, and X3 and Y3 are the horizontal and vertical coordinates of the position of the third Bluetooth beacon respectively; the above equations describe the distance relationship between the target device and the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon. Each formula in the equations is a constraint condition. X and Y are the conditions to be solved. Substitute the known distance data and position data into the equations. The solution space refers to the set of all possible solutions that meet the constraints, restrictions and requirements, and the solution space is also the Bluetooth positioning result of the target device. By continuously selecting the position data of the remaining Bluetooth beacons and the distance data of the target device to the corresponding Bluetooth beacon, an equation is established and added to the equation group, and the distance data and the position data are brought into the equation group to obtain a new solution space of the current positioning base station, so that the solution space of the equation group is continuously reduced. When the solution space of the equation group is reduced to less than or equal to the first threshold, the current solution space is the Bluetooth positioning result of the target device.

[0031] Furthermore, the specific method for analyzing the Bluetooth monitoring operation results of the target device is as follows: starting from the starting position of the target device, the time is divided into time slices of fixed length, the starting time of all time slices is used as the time point, and all time points are numbered; by analyzing the distance between the Bluetooth positioning results of the target device in two consecutive time points, combined with the time interval between the two time points, the real-time running speed Bluetooth monitoring results of the target device are analyzed; based on the real-time running speed Bluetooth monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time running acceleration Bluetooth monitoring results of the target device are analyzed; by analyzing the horizontal axis change amount and the vertical axis change rate of the Bluetooth positioning results of the target device in two consecutive time points, the real-time running direction Bluetooth monitoring results of the target device are analyzed; based on the Bluetooth positioning results, real-time running speed, real-time running direction and real-time running acceleration of the target device, the Bluetooth predicted position of the target device is analyzed.

[0032] In this embodiment, the target device divides the time into fixed-length time slices starting from the starting position, and the time length of all time slices is the same. By dividing the time into fixed-length time slices, the position and motion state of the target device in each time slice can be easily calculated, so as to better understand the motion trajectory of the target device; the calculation formula of the target device's running acceleration Bluetooth monitoring result is: The Bluetooth monitoring results of the target device are as follows: in, The real-time acceleration Bluetooth monitoring result of the target device at the kth time point, k is the time point number, k = 1, 2, 3, ..., k0, k0 is the total number of time points, The real-time running speed Bluetooth monitoring result of the target device at the kth time point, is the real-time running speed Bluetooth monitoring result of the target device at the k-1th time point, ΔT is the time interval between two time points, X k is the horizontal axis coordinate of the Bluetooth positioning result at the kth time point, X k-1 Y is the horizontal axis coordinate of the Bluetooth positioning result at the k-1th time point, k Y is the vertical coordinate of the Bluetooth positioning result at the kth time point, k-1 is the vertical coordinate of the Bluetooth positioning result at the k-1th time point, The real-time running direction Bluetooth monitoring result of the target device at the kth time point, and They are the horizontal and vertical coordinates of the Bluetooth predicted position of the target device at the kth time point.

[0033] Furthermore, the specific method for analyzing the ultrasonic positioning result of the target device is as follows: before analyzing the ultrasonic positioning result of the target device, number the ultrasonic sensors; obtain the transmission time point data of the ultrasonic signal emitted by each ultrasonic sensor, and at the same time obtain the return time point data of the ultrasonic signal returning to the sensor after reaching the target device, and measure the time required for the ultrasonic signal sent by each sensor to return to the corresponding sensor after reaching the target device; obtain the propagation speed of the ultrasonic signal emitted by each ultrasonic sensor, and analyze the distance between the target device and each ultrasonic sensor according to the time required for the ultrasonic signal sent by each sensor to return to the corresponding sensor after reaching the target device; obtain the position data of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor, and at the same time obtain the distance data from the target device to the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor, and analyze the first ultrasonic positioning result solution space of the target device; by continuously selecting the position data of the remaining ultrasonic sensors and the distance data from the target device to the corresponding ultrasonic sensor, analyze the second ultrasonic positioning result solution space of the target device, and compare it with the first ultrasonic positioning result solution space of the current target device, and continuously refine the ultrasonic positioning result solution space of the target device; when the ultrasonic positioning result solution space of the target device is reduced to less than or equal to the first threshold, it can be determined that the positioning result range is the ultrasonic positioning result of the target device.

[0034] In this embodiment, the distance between the target device and the ultrasonic sensor j is: Where, d j is the distance between the target device and ultrasonic sensor j, j is the number of the ultrasonic sensor, j = 1, 2, 3, ..., j0, j0 is the total number of ultrasonic sensors, j0 ≥ 3, c j is the propagation speed of the ultrasonic signal emitted by ultrasonic sensor j, Δt j is the time difference between the ultrasonic signal sent by ultrasonic sensor j and the target device; the ultrasonic positioning result range calculation formula of the target device is: Wherein, d1, d2 and d3 are the distances from the target device to the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor respectively, x1 and y1 are the horizontal and vertical coordinates of the position of the first ultrasonic sensor respectively, x2 and y2 are the horizontal and vertical coordinates of the position of the second ultrasonic sensor respectively, and x3 and y3 are the horizontal and vertical coordinates of the position of the third ultrasonic sensor respectively; the above equation group describes the distance relationship between the target device and the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor respectively, each formula in the equation group is a constraint condition, x and y are the solution to be solved, and the distance data and the position data are brought into the equation group to obtain the solution space of the ultrasonic positioning result of the target device, and the solution space is also the ultrasonic positioning result range of the target device; by continuously selecting the position data of the remaining ultrasonic sensors and the distance data of the target device to the corresponding ultrasonic sensor mark, the equation is established and added to the equation group, and the distance data and the position data are brought into the equation group to obtain the new solution space of the current positioning base station, so that the solution space of the equation group is continuously reduced. When the solution space of the equation group is reduced to the first threshold, the current solution space is the ultrasonic positioning result of the target device.

[0035] Furthermore, the specific method for analyzing the ultrasonic monitoring operation results of the target device is as follows: starting from the starting position of the target device, the time is divided into time slices of fixed length, the starting time of all time slices is used as the time point, and all time points are numbered; by analyzing the distance between the ultrasonic positioning results of the target device in two consecutive time points, combined with the time interval between the two time points, the real-time operating speed ultrasonic monitoring results of the target device are analyzed; based on the real-time operating speed ultrasonic monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time operating acceleration ultrasonic monitoring results of the target device are analyzed; by analyzing the horizontal axis change amount and the vertical axis change rate of the ultrasonic positioning results of the target device in two consecutive time points, the real-time operating direction ultrasonic monitoring results of the target device are analyzed; based on the ultrasonic positioning results, real-time operating speed, real-time operating direction and real-time operating acceleration of the target device, the ultrasonic predicted position of the target device is analyzed.

[0036] In this embodiment, the calculation formula of the running acceleration ultrasonic monitoring result of the target device is: The ultrasonic monitoring operation results of the target equipment are in, is the real-time acceleration ultrasonic monitoring result of the target device at the kth time point, x k is the horizontal axis coordinate of the ultrasonic positioning result at the kth time point, x k-1 is the horizontal axis coordinate of the ultrasonic positioning result at the k-1th time point, y k is the vertical coordinate of the ultrasonic positioning result at the kth time point, yk-1 is the vertical coordinate of the ultrasonic positioning result at the k-1th time point, is the real-time running speed ultrasonic monitoring result of the target device at the kth time point, The real-time running speed ultrasonic monitoring result of the target device at the k-1th time point. is the real-time running direction ultrasonic monitoring result of the target device at the kth time point, and are the horizontal and vertical coordinates of the ultrasonic predicted position of the target device at the kth time point.

[0037] Furthermore, the specific method for fusing the Bluetooth positioning result and the ultrasonic positioning result data is as follows: obtaining the Bluetooth positioning result and the ultrasonic positioning result of the target device, and constructing a fusion positioning result calculation formula based on them; calculating the fusion positioning result according to the fusion positioning result calculation formula; the fusion positioning result calculation formula is: In the formula, R x and R y are the horizontal and vertical coordinates of the target device’s fused positioning result, respectively; X and Y are the horizontal and vertical coordinates of the target device’s Bluetooth positioning result, respectively; x and y are the horizontal and vertical coordinates of the target device’s ultrasonic positioning result, respectively; δ1 and δ2 are the weight ratios of the Bluetooth positioning result and the ultrasonic positioning result to the fused positioning result, respectively.

[0038] In this embodiment, Bluetooth positioning and ultrasonic positioning have their own advantages and limitations. By fusing their positioning results, their advantages can be fully utilized, errors can be corrected with each other, and each other's shortcomings can be compensated, thereby improving the overall positioning precision and accuracy; when one positioning technology performs poorly in some cases, another positioning technology can be relied on to provide reliable positioning results. Bluetooth positioning and ultrasonic positioning may have certain limitations in positioning range; by fusing the positioning results of the two, the positioning coverage can be expanded, so that the target device can be located in a wider area, providing more comprehensive positioning services.

[0039] Furthermore, a specific method for matching the fused positioning result data of the target device with the map database is as follows: obtaining the fused positioning result data of the target device, matching the fused positioning result data of the target device with the map data, and determining the actual position of the fused positioning result of the target device on the map; determining the navigation starting point and the navigation end point of the target device, the navigation starting point being the actual position of the fused positioning result of the target device on the map, and the navigation end point being the position specified by the user on the map; performing a road search on the map according to the navigation starting point and the navigation end point, and using a path planning algorithm to analyze the best navigation route.

[0040] In this embodiment, map data usually contains rich environmental information, including road network structure, road attributes, intersections, buildings, traffic lights, road congestion, etc.; the target device fusion positioning result data and map data are matched to determine the actual position of the fusion positioning result of the target device on the map, and the position and movement trajectory of the target device can be intuitively displayed on the target device, which is very useful for users to observe and manage the position of the target device in real time, which is very useful for positioning navigation and path planning.

[0041] Furthermore, the specific method of using the path planning algorithm to analyze the best navigation route is: obtain map data from the navigation starting point to the navigation end point of the target device, and represent the road network structure in the map data as a graph structure, in which each node of the graph is an intersection and each edge of the graph is a road; evaluate each edge in the graph according to the road length, road width, and the current number of vehicles on the road to obtain the edge weight of each edge; use the shortest path search algorithm, combined with the edge weight of the graph, to analyze the best navigation route.

[0042] In this embodiment, each edge in the graph is evaluated according to the road length, road width, and the current number of vehicles on the road to obtain the edge weight of each edge. The edge weight calculation formula is: In the formula, is the edge weight of the road between node h1 and node h2, is the road length between node h1 and node h2, is the road width between node h1 and node h2, is the current number of vehicles on the road between node h1 and node h2, η1, η2 and η3 are the weight ratios of road length, road width and current number of vehicles on the road to the edge weight of the road respectively; use the shortest path search algorithm, combined with the edge weights of the graph, to analyze the best navigation route, create an empty shortest path dictionary, in which the weight of each node is set to infinity, the weight of the starting node is set to 0, and the weights of each node are continuously updated according to the edge weights of the graph and the path search process; create an empty set of visited nodes, select the node closest to the starting node from the unvisited nodes, and mark it as visited; for all neighbor nodes of the visited nodes, analyze the edge weights of the roads reaching them through the visited nodes, and update the shortest path dictionary; repeat the above steps until all nodes are visited, and output the shortest path dictionary, which is the best navigation route from the navigation start point to the navigation end point.

[0043] Furthermore, the specific method of providing navigation instructions to the user according to the position change of the target device is: obtaining the Bluetooth monitoring operation results and the ultrasonic monitoring operation results of the target device, and constructing a fusion operation result calculation formula based on them; calculating the fusion operation result according to the fusion operation result calculation formula; the fusion operation result calculation formula is: Where V k is the fusion running speed of the target device at the kth time point, is the real-time running speed Bluetooth monitoring result of the target device at the kth time point, k is the time point number, k = 1, 2, 3, ..., k0, k0 is the total number of time points, is the real-time running speed ultrasonic monitoring result of the target device at the kth time point, β k is the fusion operation direction of the target device at the kth time point, The real-time running direction Bluetooth monitoring result of the target device at the kth time point, is the real-time ultrasonic monitoring result of the target device at the kth time point in its running direction, X k and Y k are the horizontal and vertical coordinates of the fusion prediction position of the target device at the kth time point, and are the horizontal and vertical coordinates of the Bluetooth predicted position of the target device at the kth time point, and are the horizontal and vertical coordinates of the ultrasonic predicted position of the target device at the kth time point, and ε1 and ε2 are the weight proportions of the Bluetooth monitoring operation results and the ultrasonic monitoring operation results to the fusion operation results.

[0044] In this embodiment, the fusion operation direction, fusion operation speed, fusion prediction position data and optimal navigation route of the fusion operation result of the target device are obtained, and the corresponding navigation instructions are generated in combination with the map data; according to the fusion operation direction and fusion prediction position data of the target device, it is judged whether the target device is about to deviate from the optimal navigation route in the next step, if there is no deviation in the next step, it continues to move forward, if the next step is about to deviate, a navigation prompt is given that it has deviated from the current navigation route, and the current position is automatically used as the navigation starting point, the navigation end point remains unchanged, and the optimal navigation route is re-planned; when there is a speed limit requirement on the current operating road, according to the fusion operation speed of the target device, a navigation prompt is given whether the fusion operation speed of the current target device meets the speed limit requirement of the current operating road, if it meets the requirement, it continues to move forward, if it does not meet the requirement, a navigation prompt is given to timely adjust the current operating speed of the target device; the navigation prompts include turning left, turning right, going straight, driving on the left side, driving on the right side, passing through an underground passage, entering a roundabout, detouring, etc.; the form of the navigation prompt can be presented in a variety of ways such as text, sound, and graphics, wherein the navigation voice prompt is a real person voice or a synthesized voice, and the navigation graphic prompt is an arrow indication or a text prompt on the map.

[0045] like Figure 2As shown in the figure, it is a structural diagram of the Bluetooth-based fusion navigation and positioning system provided in the embodiment of the present application. The Bluetooth-based fusion navigation and positioning system provided in the embodiment of the present application includes: a Bluetooth positioning monitoring module, an ultrasonic positioning monitoring module, a positioning result fusion module, a navigation planning module and a navigation indication module; wherein the Bluetooth positioning monitoring module is used to receive the Bluetooth signal emitted from the Bluetooth beacon at a known position through the Bluetooth receiver of the target device, analyze the distance from the target device to each Bluetooth beacon, and then analyze the Bluetooth positioning result of the target device, monitor the Bluetooth positioning result of the target device in real time, and analyze the Bluetooth monitoring operation result of the target device; the ultrasonic positioning monitoring module is used to transmit and receive ultrasonic signals through an ultrasonic sensor at a known position. The ultrasonic positioning module is used to analyze the distance from each ultrasonic sensor to the target device, analyze the ultrasonic positioning result of the target device, monitor the ultrasonic positioning result of the target device in real time, and analyze the ultrasonic monitoring operation result of the target device; the navigation planning module is used to fuse the Bluetooth positioning result and the ultrasonic positioning result data, analyze the fused positioning result data of the target device, match the fused positioning result data of the target device with the map database, and use the path planning algorithm to generate the best navigation route; the navigation instruction module is used to fuse the Bluetooth monitoring operation result and the ultrasonic monitoring operation result to obtain the fused operation result, and use the fused operation result of the target device to predict the position change of the target device, and provide navigation instructions to the user according to the position change of the target device.

[0046] In summary, with the help of the above-mentioned technical scheme of the present invention, by fusing the Bluetooth positioning results and the ultrasonic positioning result data, the fused positioning result data of the target device is analyzed, so as to make full use of their advantages, correct errors with each other, make up for each other's shortcomings, and thus achieve the improvement of the Bluetooth-based navigation positioning accuracy.

[0047] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the specific device can be divided into different functional modules to complete all or part of the functions described above.

[0048] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0049] In several embodiments covered by the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, or it can be an electrical, mechanical or other form of connection.

[0050] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0051] In addition, each functional module in each embodiment of the present application can be implemented in the form of hardware or in the form of software functional modules. If these functional modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or part of the prior art that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a computer program product, which includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program product is stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, a computer instruction can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)).

[0052] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A fusion navigation and positioning method based on Bluetooth, characterized in that: The following steps are involved: The Bluetooth receiver of the target device receives the Bluetooth signal emitted by the Bluetooth beacon at the known location, analyzes the distance between the target device and each Bluetooth beacon, and then analyzes the Bluetooth positioning result of the target device, monitors the Bluetooth positioning result of the target device in real time, and analyzes the Bluetooth monitoring operation result of the target device; By transmitting and receiving ultrasonic signals through ultrasonic sensors at known positions, the distances from each ultrasonic sensor to the target device are analyzed, the ultrasonic positioning results of the target device are analyzed, the ultrasonic positioning results of the target device are monitored in real time, and the ultrasonic monitoring operation results of the target device are analyzed; The Bluetooth positioning result and the ultrasonic positioning result data are integrated to analyze the integrated positioning result data of the target device. The integrated positioning result data of the target device is matched with the map database, and the path planning algorithm is used to generate the best navigation route. The Bluetooth monitoring operation results and the ultrasonic monitoring operation results are integrated to obtain the integrated operation results, and the integrated operation results of the target device are used to predict the position change of the target device, and provide navigation instructions to the user according to the position change of the target device; The specific method for analyzing the Bluetooth positioning result of the target device is: Before analyzing the Bluetooth positioning results of the target device, the Bluetooth beacons are numbered; All Bluetooth beacons transmit Bluetooth signals at the same time, obtain the Bluetooth signal transmission time data and the arrival time data of the target device transmitted by the Bluetooth beacon, and measure the time required for the Bluetooth signal sent by each Bluetooth beacon to reach the target device; Obtain the propagation speed of the Bluetooth signal emitted by each Bluetooth beacon, and analyze the distance between the target device and each Bluetooth beacon based on the time required for the Bluetooth signal sent by the corresponding Bluetooth beacon to reach the target device; Acquire the location data of the first Bluetooth beacon, the second Bluetooth beacon, and the third Bluetooth beacon, and simultaneously acquire the distance data from the target device to the first Bluetooth beacon, the second Bluetooth beacon, and the third Bluetooth beacon, and analyze the first Bluetooth positioning result solution space of the target device; By continuously selecting the location data of the remaining Bluetooth beacons and the distance data of the target device to the corresponding Bluetooth beacon, a second Bluetooth positioning result solution space of the target device is analyzed, and compared with the first Bluetooth positioning result solution space of the target device, the Bluetooth positioning result solution space of the target device is continuously refined; When the Bluetooth positioning result solution space of the target device is reduced to be less than or equal to the first threshold, determining that the positioning result solution space is the Bluetooth positioning result of the target device; The distance between the target device and Bluetooth beacon i: D i =C i *ΔT i Where D i is the distance between the target device and Bluetooth beacon i, i is the Bluetooth tag number, i=1, 2, 3, ..., i0, i0 is the total number of Bluetooth tags, i0≥3, C i is the propagation speed of the Bluetooth signal emitted by Bluetooth beacon i, ΔT i is the time required for the Bluetooth signal sent by Bluetooth beacon i to reach the target device; the known position of the first Bluetooth beacon is used as the coordinate origin, the coordinate axis is established, and the calculation formula of the Bluetooth positioning result solution space of the target device is: Wherein, D1, D2 and D3 are the distances from the target device to the first Bluetooth beacon, the second Bluetooth beacon and the third Bluetooth beacon respectively, X1 and Y1 are the horizontal coordinate and vertical coordinate of the position of the first Bluetooth beacon respectively, X2 and Y2 are the horizontal coordinate and vertical coordinate of the position of the second Bluetooth beacon respectively, and X3 and Y3 are the horizontal coordinate and vertical coordinate of the position of the third Bluetooth beacon respectively; The specific method for analyzing the Bluetooth monitoring operation result of the target device is: Divide the time of the target device into time slices of fixed length starting from the starting position, take the starting time of all time slices as the time point, and number all the time points; By analyzing the distance between the Bluetooth positioning results of the target device at two consecutive time points and combining the time interval between the two time points, the real-time Bluetooth monitoring results of the target device's running speed can be analyzed; According to the real-time running speed Bluetooth monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time running acceleration Bluetooth monitoring results of the target device are analyzed; By analyzing the horizontal axis change amount and vertical axis change rate of the target device's Bluetooth positioning results at two consecutive time points, the real-time running direction Bluetooth monitoring results of the target device are analyzed; Analyze the Bluetooth predicted position of the target device based on the Bluetooth positioning result, real-time running speed, real-time running direction and real-time running acceleration of the target device; The calculation formula of the target device's running acceleration Bluetooth monitoring result is: The Bluetooth monitoring results of the target device are as follows: in, The real-time acceleration Bluetooth monitoring result of the target device at the kth time point, k is the time point number, k = 1, 2, 3, ..., k0, k0 is the total number of time points, The real-time running speed Bluetooth monitoring result of the target device at the kth time point, is the real-time running speed Bluetooth monitoring result of the target device at the k-1th time point, ΔT is the time interval between two time points, X k is the horizontal axis coordinate of the Bluetooth positioning result at the kth time point, X k-1 Y is the horizontal axis coordinate of the Bluetooth positioning result at the k-1th time point, k Y is the vertical coordinate of the Bluetooth positioning result at the kth time point, k-1 is the vertical coordinate of the Bluetooth positioning result at the k-1th time point, The real-time running direction Bluetooth monitoring result of the target device at the kth time point, and are the horizontal and vertical coordinates of the Bluetooth predicted position of the target device at the kth time point; The specific method for analyzing the ultrasonic positioning result of the target device is: Before analyzing the ultrasonic positioning results of the target device, the ultrasonic sensors are numbered; Obtain the transmission time point data of the ultrasonic signal emitted by each ultrasonic sensor, and at the same time obtain the return time point data of the ultrasonic signal returning to the sensor after reaching the target device, and measure the time required for the ultrasonic signal sent by each sensor to return to the corresponding sensor after reaching the target device; Obtain the propagation speed of the ultrasonic signal emitted by each ultrasonic sensor, and analyze the distance between the target device and each ultrasonic sensor based on the time required for the ultrasonic signal sent by each sensor to reach the target device and return to the corresponding sensor; Acquire the position data of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor, and simultaneously acquire the distance data from the target device to the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor, and analyze the first ultrasonic positioning result solution space of the target device; By continuously selecting the position data of the remaining ultrasonic sensors and the distance data from the target device to the corresponding ultrasonic sensor, the second ultrasonic positioning result solution space of the target device is analyzed, and compared with the first ultrasonic positioning result solution space of the current target device, the ultrasonic positioning result solution space of the target device is continuously refined; When the ultrasonic positioning result solution space of the target device is reduced to be less than or equal to the first threshold, it can be determined that the positioning result range is the ultrasonic positioning result of the target device; The distance between the target device and the ultrasonic sensor j: Where, d j is the distance between the target device and ultrasonic sensor j, j is the number of the ultrasonic sensor, j = 1, 2, 3, ..., j0, j0 is the total number of ultrasonic sensors, j0 ≥ 3, c j is the propagation speed of the ultrasonic signal emitted by ultrasonic sensor j, Δt j is the time difference between the ultrasonic signal sent by ultrasonic sensor j and the target device; the ultrasonic positioning result range calculation formula of the target device is: Wherein, d1, d2 and d3 are the distances from the target device to the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor respectively, x1 and y1 are the abscissa and ordinate of the position of the first ultrasonic sensor respectively, x2 and y2 are the abscissa and ordinate of the position of the second ultrasonic sensor respectively, and x3 and y3 are the abscissa and ordinate of the position of the third ultrasonic sensor respectively; The specific method for analyzing the ultrasonic monitoring operation results of the target device is: Divide the time of the target device into time slices of fixed length starting from the starting position, take the starting time of all time slices as the time point, and number all the time points; By analyzing the distance between the ultrasonic positioning results of the target device at two consecutive time points and combining the time interval between the two time points, the real-time ultrasonic monitoring results of the target device's running speed can be analyzed; According to the real-time running speed ultrasonic monitoring results of the target device at two time points, combined with the time interval between the two time points, the real-time running acceleration ultrasonic monitoring results of the target device are analyzed; By analyzing the horizontal axis change amount and vertical axis change rate of the ultrasonic positioning results of the target equipment at two consecutive time points, the real-time running direction ultrasonic monitoring results of the target equipment are analyzed; Analyze the ultrasonic predicted position of the target device based on the ultrasonic positioning result, real-time running speed, real-time running direction and real-time running acceleration of the target device; The calculation formula of the target equipment's operating acceleration ultrasonic monitoring results is: The ultrasonic monitoring operation results of the target equipment are: in, is the real-time acceleration ultrasonic monitoring result of the target device at the kth time point, x k is the horizontal axis coordinate of the ultrasonic positioning result at the kth time point, x k-1 is the horizontal axis coordinate of the ultrasonic positioning result at the k-1th time point, y k is the vertical coordinate of the ultrasonic positioning result at the kth time point, y k-1 is the vertical coordinate of the ultrasonic positioning result at the k-1th time point, is the real-time running speed ultrasonic monitoring result of the target device at the kth time point, The real-time running speed ultrasonic monitoring result of the target device at the k-1th time point. is the real-time running direction ultrasonic monitoring result of the target device at the kth time point, and are the horizontal and vertical coordinates of the ultrasonic predicted position of the target device at the kth time point.

2. The Bluetooth-based fusion navigation and positioning method according to claim 1, characterized in that: The specific method for fusing the Bluetooth positioning result and the ultrasonic positioning result data is as follows: Obtain the Bluetooth positioning results and ultrasonic positioning results of the target device, and construct a calculation formula for the fusion positioning results based on them; Calculate the fusion positioning result according to the fusion positioning result calculation formula; The calculation formula of fusion positioning result is: In the formula, R x and R y are the horizontal and vertical coordinates of the target device’s fused positioning result, respectively; X and Y are the horizontal and vertical coordinates of the target device’s Bluetooth positioning result, respectively; x and y are the horizontal and vertical coordinates of the target device’s ultrasonic positioning result, respectively; δ1 and δ2 are the weight ratios of the Bluetooth positioning result and the ultrasonic positioning result to the fused positioning result, respectively.

3. The Bluetooth-based fusion navigation and positioning method according to claim 2, characterized in that: The specific method for matching the target device fusion positioning result data and the map database is as follows: Obtain the fused positioning result data of the target device, match the fused positioning result data of the target device with the map data, and determine the real position of the fused positioning result of the target device on the map; Determine a navigation start point and a navigation end point of the target device, wherein the navigation start point is the real position of the fused positioning result of the target device on the map, and the navigation end point is the position specified by the user on the map; Perform road search on the map based on the navigation starting point and navigation end point, and use the path planning algorithm to analyze the best navigation route.

4. The Bluetooth-based fusion navigation and positioning method as claimed in claim 3, characterized in that: The specific method of using the path planning algorithm to analyze the best navigation route is: Obtain map data from the navigation start point to the navigation end point of the target device, and represent the road network structure in the map data as a graph structure, where each node of the graph is an intersection and each edge of the graph is a road; According to the road length, road width, and the number of vehicles on the current road, each edge in the graph is evaluated to obtain the edge weight of each edge; Use the shortest path search algorithm and the edge weights of the graph to analyze the best navigation route.

5. The Bluetooth-based fusion navigation and positioning method according to claim 4, characterized in that: The specific method of providing navigation instructions to the user according to the position change of the target device is: Obtain the Bluetooth monitoring operation results and ultrasonic monitoring operation results of the target device, and construct a fusion operation result calculation formula based on them; Calculate the fusion operation result according to the fusion operation result calculation formula; The calculation formula of the fusion operation result is: Where V k is the fusion running speed of the target device at the kth time point, is the real-time running speed Bluetooth monitoring result of the target device at the kth time point, k is the time point number, k=1, 2, 3, ..., k0, k0 is the total number of time points, is the real-time running speed ultrasonic monitoring result of the target device at the kth time point, β k is the fusion operation direction of the target device at the kth time point, The real-time running direction Bluetooth monitoring result of the target device at the kth time point, is the real-time ultrasonic monitoring result of the target device at the kth time point in its running direction, X k and Y k are the horizontal and vertical coordinates of the fusion prediction position of the target device at the kth time point, and are the horizontal and vertical coordinates of the Bluetooth predicted position of the target device at the kth time point, and are the horizontal and vertical coordinates of the ultrasonic predicted position of the target device at the kth time point, and ε1 and ε2 are the weight proportions of the Bluetooth monitoring operation results and the ultrasonic monitoring operation results to the fusion operation results.

6. A Bluetooth-based fusion navigation and positioning system using the method according to any one of claims 1 to 5, characterized in that: include: Bluetooth positioning monitoring module, ultrasonic positioning monitoring module, positioning result fusion module, navigation planning module and navigation indication module; The Bluetooth positioning monitoring module is used to receive the Bluetooth signal transmitted from the Bluetooth beacon at the known position through the Bluetooth receiver of the target device, analyze the distance from the target device to each Bluetooth beacon, and then analyze the Bluetooth positioning result of the target device, monitor the Bluetooth positioning result of the target device in real time, and analyze the Bluetooth monitoring operation result of the target device; The ultrasonic positioning monitoring module is used to transmit and receive ultrasonic signals through ultrasonic sensors at known positions, analyze the distances from each ultrasonic sensor to the target device, analyze the ultrasonic positioning results of the target device, monitor the ultrasonic positioning results of the target device in real time, and analyze the ultrasonic monitoring operation results of the target device; The navigation planning module is used to fuse the Bluetooth positioning result and the ultrasonic positioning result data, analyze the fused positioning result data of the target device, match the fused positioning result data of the target device with the map database, and use the path planning algorithm to generate the best navigation route; The navigation instruction module is used to fuse the Bluetooth monitoring operation results and the ultrasonic monitoring operation results to obtain a fused operation result, and to predict the position change of the target device based on the fused operation result of the target device, and provide navigation instructions to the user according to the position change of the target device.

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