Mobile beacon tracking method for linearly arranged Mesh network environment

Abstract

The invention discloses a mobile beacon tracking method for a linearly arranged Mesh network environment, which belongs to the technical field of wireless networks, and comprises the following steps of: linearly arranging a plurality of Mesh base stations along a tunnel, and carrying out relay networking and configuration of mobile beacons to obtain a mobile beacon positioning network; and based on the mobile beacon positioning network, carrying out mobile beacon positioning tracking on the mobile target in the tunnel to obtain the positioning information of the mobile beacon. According to the invention, the Mesh base stations and the mobile beacons which are linearly arranged are adopted to construct a mobile beacon positioning network, accurate positioning of the mobile beacons in the tunnel is realized only through the signal intensity of signals of the two base stations, the positioning problem caused by temperature and humidity changes in the construction tunnel in the alpine region is effectively solved, and the positioning accuracy of the tunnel in the alpine region is improved. The safety and efficiency of tunnel construction are greatly improved, accurate positioning of construction equipment and personnel in a complex environment is ensured, the controllability of the construction progress is remarkably improved, and powerful safety guarantee is provided for tunnel construction.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless network, and in particular to a mobile beacon tracking method for a linearly arranged Mesh network environment. Background Art

[0002] During tunnel construction in high-cold mountainous areas, the light in the tunnel is dim, there are many suspended particles in the air, and it is difficult to see the road ahead. Shield machines, transport vehicles and construction workers may enter and exit the construction tunnel at any time, which is very easy to cause traffic safety accidents. Therefore, for construction tunnels in high-cold mountainous areas, accurate positioning is extremely necessary to avoid collisions.

[0003] Existing indoor positioning mainly includes technical solutions such as Bluetooth and UWB (Ultra Wide Band). This type of solution is to install fixed beacons or wireless base stations at selected points indoors, and settle the signal strength of multiple beacon stations or wireless base stations received by the mobile target to obtain positioning information. However, this type of solution requires obtaining the scene information in the space and the installation point of the beacon station in advance, and storing it in the mobile terminal before the positioning information can be parsed. With the increase in construction period and the change in tunnel length, the method of installing fixed beacon stations indoors in advance is completely unsuitable for positioning mobile targets in tunnels due to the limitations of antenna height and narrow space environment. Therefore, there is an urgent need for a method that can accurately locate mobile targets in construction tunnels in high-altitude mountainous areas. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the mobile beacon tracking method for a linearly arranged Mesh network environment provided by the present invention constructs a mobile beacon positioning network by adopting linearly arranged Mesh base stations and mobile beacons. It realizes precise positioning of mobile beacons in tunnels with only the signal strength of two base station signals, thus solving the problem of difficulty in accurately locating mobile targets in construction tunnels in high-cold areas.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] The present invention provides a mobile beacon tracking method for a linearly arranged Mesh network environment, comprising the following steps:

[0007] S1. Set up several Mesh base stations linearly along the tunnel, and perform relay networking and configure mobile beacons to obtain a mobile beacon positioning network;

[0008] S2. Based on the mobile beacon positioning network, the mobile beacon positioning and tracking is performed on the mobile target in the tunnel to obtain the positioning information of the mobile beacon.

[0009] The beneficial effects of the present invention are as follows: the present invention provides a mobile beacon tracking method for a linearly arranged Mesh network environment, which realizes low-power wireless Mesh networking communication by linearly setting Mesh base stations along the tunnel and respectively setting mobile beacons for workers and vehicles moving linearly in the tunnel; the present invention forms multi-factor positioning information through mobile beacons, unique identifiers of base stations, coordinate information of base stations, corresponding receiving time and RSSI values ​​corresponding to base station signal strength, and performs corresponding positioning solutions; the present invention adopts mobile beacons, and only uses RSSI values ​​corresponding to base station signal strengths of two Mesh base stations to obtain positioning information; value can achieve accurate positioning; the mobile beacon positioning network constructed by the present invention has multiple Mesh base stations. The mobile beacon of the same mobile target can receive the broadcast beacon frames of multiple Mesh base stations. By parsing the broadcast beacon frames and adopting a multi-source and multi-element fusion analysis algorithm, multi-point and multi-source mobile target positioning can be formed; the present invention effectively overcomes the positioning problem caused by temperature and humidity changes in tunnels constructed in high-cold areas, greatly improves the safety and efficiency of tunnel construction, ensures the accurate positioning of construction equipment and personnel in complex environments, significantly improves the controllability of construction progress, and provides a strong safety guarantee for tunnel construction.

[0010] Furthermore, the S1 comprises the following steps:

[0011] S11, placing a number of Mesh base stations in a flat linear arrangement in the tunnel, wherein each Mesh base station uses a directional antenna;

[0012] S12, relay networking is performed according to the directional antennas in each Mesh base station to obtain a wireless positioning network;

[0013] S13, respectively setting base station coordinates for each Mesh base station in the wireless positioning network, and respectively setting mobile beacons for mobile targets linearly distributed along the tunnel path, to obtain a mobile beacon positioning network.

[0014] The beneficial effect of adopting the above further scheme is: the present invention overcomes the limitations of antenna height and narrow space in the tunnel by constructing a mobile beacon positioning network, and proposes a mobile beacon positioning network for a linearly arranged Mesh network environment when fixed beacon stations cannot be installed in advance.

[0015] Furthermore, each of the Mesh base stations broadcasts base station broadcast information having a unique identifier, coordinate information, and base station signal of the base station, and communicates with mobile beacons within the broadcast range of the base station to obtain the speed and position coordinates of each mobile beacon;

[0016] Each mobile beacon obtains the base station broadcast information of each Mesh base station once at a preset interval, and obtains the unique identifier of each base station, the coordinate information of each base station, the corresponding reception time and the RSSI value corresponding to the base station signal strength based on the received base station broadcast information.

[0017] The beneficial effect of adopting the above further scheme is that the unique identifier broadcast by the Mesh base station in the present invention can be used to distinguish different Mesh base stations, and the coordinate information of each base station, the corresponding receiving time and the RSSI value corresponding to the base station signal strength can provide a basis for the accurate positioning of the mobile beacon.

[0018] Furthermore, S2 comprises the following steps:

[0019] S21, based on the mobile beacon positioning network, using the mobile beacon to receive the base station broadcast information of several base stations respectively, obtain the unique identifiers of several Mesh base stations, the coordinate information of each base station, and the RSSI value corresponding to the base station signal strength, and record the receiving time;

[0020] S22, selecting the RSSI values ​​corresponding to the two largest base station signal strengths, and extracting the unique identifiers and coordinate information of the Mesh base stations corresponding to the two RSSI values ​​respectively based on the base station broadcast information;

[0021] S23, respectively input the two selected RSSI values ​​into the nonlinear RSSI ranging temperature and humidity correction model to obtain the corrected distance between the mobile beacon and the two Mesh base stations;

[0022] S24, according to the RSSI relationship mapping table, based on the RSSI values ​​corresponding to the two largest base station signal strengths, obtain the closest distances between the mobile beacon and the two Mesh base stations respectively;

[0023] S25, according to the corrected distances and the closest distances between the mobile beacon and the two Mesh base stations, based on the distance fusion model, obtain the distances between the mobile beacon and the two Mesh base stations, wherein the distance from the mobile beacon to one of the two Mesh base stations is d1, and the distance from the mobile beacon to the other of the two Mesh base stations is d2;

[0024] S26, obtaining the coordinate information of the mobile beacon based on a coordinate distance association model according to the coordinate information of the Mesh base stations corresponding to the two RSSI values ​​and the distances from the mobile beacon to the two Mesh base stations;

[0025] S27, based on S25 and S26, continuously obtaining coordinate information of the mobile beacon twice according to a preset unit time interval;

[0026] S28, calculating the direction and speed of the mobile beacon based on the acquired two coordinate information of the mobile beacon and the speed direction model;

[0027] S29. Use the most recent coordinate information, direction and speed of the mobile beacon as the positioning information of the mobile beacon.

[0028] The beneficial effect of adopting the above further scheme is: the present invention provides a method for performing mobile beacon positioning and tracking on mobile targets in a tunnel based on a mobile beacon positioning network to obtain the positioning information of the mobile beacon. Through the Mesh base station broadcast, the distance from the mobile beacon to the positions of the two Mesh base stations with the strongest RSSI intensity is obtained, thereby achieving accurate positioning of the mobile beacon based on the coordinate distance association model, speed direction model, etc.

[0029] Furthermore, the calculation expression of the nonlinear RSSI ranging temperature and humidity correction model in S23 is as follows:

[0030]

[0031] Among them, RSSI (d rssi ,T,H) represents the RSSI value when the corrected distance from the mobile beacon to the Mesh base station is drssi, the temperature is T and the humidity is H, RSSI(d0,T0,H0) represents the RSSI value when the reference distance is d0, the reference temperature is T0 and the reference humidity is H0, m represents the path loss coefficient, lg represents the logarithm operation with a base of 10, a0 represents the linear temperature adjustment coefficient, a1 represents the nonlinear temperature adjustment coefficient, b0 represents the linear humidity adjustment coefficient, b1 represents the nonlinear humidity adjustment coefficient, and c represents the temperature and humidity cross adjustment coefficient.

[0032] The beneficial effect of adopting the above further scheme is: the present invention provides a nonlinear RSSI ranging temperature and humidity correction model, which effectively overcomes the situation where the RSSI value deviates greatly due to external factors such as temperature and humidity in the tunnel environment, so as to ensure the accuracy of the RSSI value.

[0033] Furthermore, the method for acquiring the RSSI relationship mapping table in S24 comprises the following steps:

[0034] A1. Based on the mobile beacon positioning network, the RSSI value corresponding to the signal strength of the Mesh base station received by the mobile beacon from a single Mesh base station and the distance between the mobile beacon and the Mesh base station are obtained respectively, and several RSSI distance data groups are formed;

[0035] A2. Based on each RSSI distance data group, a one-to-one mapping relationship between RSSI values ​​and distances between mobile beacons and Mesh base stations is formed;

[0036] A3. Based on the one-to-one mapping relationship between the RSSI values ​​of all Mesh base stations in the mobile beacon positioning network and the distance, an RSSI relationship mapping table is constructed.

[0037] The beneficial effect of adopting the above further scheme is as follows: the present invention provides a method for obtaining the RSSI relationship mapping table, which forms a one-to-one mapping relationship between the mobile beacon moving linearly along the tunnel and the RSSI value corresponding to the base station signal strength received from the Mesh base station at different positions, thereby being able to obtain the closest mobile beacon to the two Mesh base stations based on the RSSI value corresponding to the maximum two base station signal strengths.

[0038] Furthermore, the calculation expression of the distance fusion model in S25 is as follows:

[0039]

[0040] Among them, p rssi Represents the modified distance fusion weight coefficient, p table Represents the closest distance fusion weight coefficient, d rssi Indicates the corrected distance between the mobile beacon and the Mesh base station, d table It represents the closest distance between the mobile beacon and the Mesh base station, and d represents the distance between the mobile beacon and the Mesh base station.

[0041] The beneficial effect of adopting the above further scheme is: the present invention provides a calculation expression of the distance fusion model, by weighting the closest distance from the mobile beacon to the Mesh base station and the corrected distance from the mobile beacon to the Mesh base station to obtain a more accurate distance from the mobile beacon to the two Mesh base stations respectively, providing a basis for obtaining accurate coordinate information of the mobile beacon.

[0042] Furthermore, the calculation expression of the coordinate distance association model in S26 is as follows:

[0043]

[0044] Where A represents the difference in the horizontal coordinates of the Mesh base station, x1 represents the horizontal coordinate of one of the two Mesh base stations, x2 represents the horizontal coordinate of the other Mesh base station, B represents the difference in the vertical coordinates of the Mesh base stations, y1 represents the vertical coordinate of one of the two Mesh base stations, y2 represents the vertical coordinate of the other Mesh base station, C represents the coefficient of the horizontal and vertical coordinate association term, x bc Indicates the horizontal coordinate of the mobile beacon, y bc Indicates the vertical coordinate of the mobile beacon.

[0045] The beneficial effect of adopting the above further scheme is: the present invention provides a calculation method of the coordinate distance association model, based on the coordinate information of two Mesh base stations and the distances from the mobile beacon to the two Mesh base stations respectively, to calculate and obtain accurate coordinate information of the mobile beacon.

[0046] Furthermore, the calculation expression of the velocity direction model is as follows:

[0047]

[0048] in, Represents the vector displacement distance between two coordinates of the mobile beacon, x bc1 Indicates the horizontal coordinate of the mobile beacon obtained for the first time, x bc2 Indicates the horizontal coordinate of the mobile beacon obtained for the second time, y bc1 Indicates the vertical coordinate of the mobile beacon obtained for the first time, y bc2 Indicates the vertical coordinate of the mobile beacon obtained for the second time.

[0049] The beneficial effect of adopting the above further scheme is: the present invention provides a speed direction model to calculate the speed and direction of the mobile beacon based on the acquired two coordinate information of the mobile beacon, so as to obtain the detailed positioning of the mobile beacon at night, provide a basis for predicting the next movement of the mobile beacon, and establish a communication connection between the mobile beacon and the next Mesh base station.

[0050] Furthermore, the mobile beacon tracking method for a linearly arranged Mesh network environment provided by the present invention also includes: S3, based on the positioning information of the mobile beacon, the Mesh base station in the mobile beacon positioning network that is along the direction of the mobile beacon and has not yet established a communication connection with the mobile beacon and is closest to the mobile beacon is prepared to establish a communication connection.

[0051] The beneficial effect of adopting the above further solution is: ensuring that the clock of the mobile beacon can be effectively positioned during movement and continuously obtain its positioning information.

[0052] Other advantages of the present invention will be analyzed in more detail in subsequent embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0054] Figure 1The present invention is a flowchart of a mobile beacon tracking method for a linearly arranged Mesh network environment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0056] like Figure 1 As shown, in one embodiment of the present invention, the present invention provides a mobile beacon tracking method for a linearly arranged Mesh network environment, comprising the following steps:

[0057] S1. Set up several Mesh base stations linearly along the tunnel, and perform relay networking and configure mobile beacons to obtain a mobile beacon positioning network;

[0058] The S1 comprises the following steps:

[0059] S11, placing a number of Mesh base stations in a flat linear arrangement in the tunnel, wherein each Mesh base station uses a directional antenna;

[0060] S12, relay networking is performed according to the directional antennas in each Mesh base station to obtain a wireless positioning network;

[0061] In this embodiment, the site location of the Mesh base station will change with the construction progress, and new Mesh base stations will be added. When any base station changes, the changed location of the Mesh base station or the location of the newly added Mesh base station needs to be reconfigured on the server side, thereby providing a basis for measuring the location coordinates, speed and direction of the beacon through the positioning algorithm according to the signal strength between the beacon and the Mesh base station and the coordinate information of the Mesh base station.

[0062] S13, respectively setting base station coordinates for each Mesh base station in the wireless positioning network, and respectively setting mobile beacons for mobile targets linearly distributed along the tunnel path, to obtain a mobile beacon positioning network.

[0063] Each of the Mesh base stations broadcasts base station broadcast information having a unique identifier, coordinate information, and base station signal of the base station, and communicates with mobile beacons within the broadcast range of the base station to obtain the speed and position coordinates of each mobile beacon;

[0064] Each mobile beacon obtains the base station broadcast information of each Mesh base station once at a preset interval, and obtains the unique identifier of each base station, the coordinate information of each base station, the corresponding reception time and the RSSI value corresponding to the base station signal strength based on the received base station broadcast information.

[0065] S2. Based on the mobile beacon positioning network, the mobile beacon positioning and tracking is performed on the mobile target in the tunnel to obtain the positioning information of the mobile beacon.

[0066] The S2 comprises the following steps:

[0067] S21, based on the mobile beacon positioning network, using the mobile beacon to receive the base station broadcast information of several base stations respectively, obtain the unique identifiers of several Mesh base stations, the coordinate information of each base station, and the RSSI value corresponding to the base station signal strength, and record the receiving time;

[0068] S22, selecting the RSSI values ​​corresponding to the two largest base station signal strengths, and extracting the unique identifiers and coordinate information of the Mesh base stations corresponding to the two RSSI values ​​respectively based on the base station broadcast information;

[0069] S23, respectively input the two selected RSSI values ​​into the nonlinear RSSI ranging temperature and humidity correction model to obtain the corrected distance between the mobile beacon and the two Mesh base stations;

[0070] The calculation expression of the nonlinear RSSI ranging temperature and humidity correction model in S23 is as follows:

[0071]

[0072] Among them, RSSI (d rssi ,T,H) represents the RSSI value when the corrected distance from the mobile beacon to the Mesh base station is drssi, the temperature is T and the humidity is H, RSSI(d0,T0,H0) represents the RSSI value when the reference distance is d0, the reference temperature is T0 and the reference humidity is H0, m represents the path loss coefficient, lg represents the logarithm operation with a base of 10, a0 represents the linear temperature adjustment coefficient, a1 represents the nonlinear temperature adjustment coefficient, b0 represents the linear humidity adjustment coefficient, b1 represents the nonlinear humidity adjustment coefficient, and c represents the temperature and humidity cross adjustment coefficient.

[0073] In this embodiment, the linear temperature adjustment coefficient a0, the nonlinear temperature adjustment coefficient a1, the linear humidity adjustment coefficient b0, the nonlinear humidity adjustment coefficient b1 and the temperature and humidity cross adjustment coefficient c are obtained by the least square method.

[0074] S24, according to the RSSI relationship mapping table, based on the RSSI values ​​corresponding to the two largest base station signal strengths, obtain the closest distances between the mobile beacon and the two Mesh base stations respectively;

[0075] In this embodiment, the RSSI relationship mapping table can reflect the mapping relationship between the RSSI value corresponding to the signal strength of the Mesh base station and the distance between the mobile beacon and the Mesh base station. Through the RSSI relationship mapping table, the distance between the mobile beacon and the Mesh base station can be obtained based on the RSSI value.

[0076] The method for obtaining the RSSI relationship mapping table in S24 comprises the following steps:

[0077] A1. Based on the mobile beacon positioning network, the RSSI value corresponding to the signal strength of the Mesh base station received by the mobile beacon from a single Mesh base station and the distance between the mobile beacon and the Mesh base station are obtained respectively, and several RSSI distance data groups are formed;

[0078] A2. Based on each RSSI distance data group, a one-to-one mapping relationship between RSSI values ​​and distances between mobile beacons and Mesh base stations is formed;

[0079] A3. Based on the one-to-one mapping relationship between the RSSI values ​​of all Mesh base stations in the mobile beacon positioning network and the distance, an RSSI relationship mapping table is constructed.

[0080] S25, according to the corrected distances and the closest distances between the mobile beacon and the two Mesh base stations, based on the distance fusion model, obtain the distances between the mobile beacon and the two Mesh base stations, wherein the distance from the mobile beacon to one of the two Mesh base stations is d1, and the distance from the mobile beacon to the other of the two Mesh base stations is d2;

[0081] The calculation expression of the distance fusion model in S25 is as follows:

[0082]

[0083] Among them, p rssi Represents the modified distance fusion weight coefficient, p table Represents the closest distance fusion weight coefficient, d rssi Indicates the corrected distance between the mobile beacon and the Mesh base station, d tableIt represents the closest distance between the mobile beacon and the Mesh base station, and d represents the distance between the mobile beacon and the Mesh base station.

[0084] S26. According to the coordinate information of the Mesh base stations corresponding to the two RSSI values ​​and the distances from the mobile beacon to the two Mesh base stations, the coordinate information of the mobile beacon is obtained based on a coordinate distance association model; the coordinate information of the mobile beacon includes the horizontal coordinate and the vertical coordinate of the mobile beacon.

[0085] The calculation expression of the coordinate distance association model in S26 is as follows:

[0086]

[0087] Where A represents the difference in the horizontal coordinates of the Mesh base station, x1 represents the horizontal coordinate of one of the two Mesh base stations, x2 represents the horizontal coordinate of the other Mesh base station, B represents the difference in the vertical coordinates of the Mesh base stations, y1 represents the vertical coordinate of one of the two Mesh base stations, y2 represents the vertical coordinate of the other Mesh base station, C represents the coefficient of the horizontal and vertical coordinate association term, x bc Indicates the horizontal coordinate of the mobile beacon, y bc Indicates the vertical coordinate of the mobile beacon.

[0088] S27, based on S25 and S26, continuously obtaining coordinate information of the mobile beacon twice according to a preset unit time interval;

[0089] S28, calculating the direction and speed of the mobile beacon based on the acquired two coordinate information of the mobile beacon and the speed direction model;

[0090] In this embodiment, the coordinate information of the mobile beacon obtained twice is two coordinate information of the same mobile beacon obtained when the mobile beacon moves, when the Mesh base stations corresponding to the two RSSI values ​​respectively remain unchanged.

[0091] The calculation expression of the velocity direction model is as follows:

[0092]

[0093] in, Represents the vector displacement distance between two coordinates of the mobile beacon, x bc1 Indicates the horizontal coordinate of the mobile beacon obtained for the first time, x bc2 Indicates the horizontal coordinate of the mobile beacon obtained for the second time, y bc1 Indicates the vertical coordinate of the mobile beacon obtained for the first time, y bc2 Indicates the vertical coordinate of the mobile beacon obtained for the second time.

[0094] S29. Use the most recent coordinate information, direction and speed of the mobile beacon as the positioning information of the mobile beacon.

[0095] Adjacent mobile beacons establish communication connections with each other, and can obtain the coordinate information, speed and direction of adjacent mobile beacons, which can effectively avoid accidents such as collisions in tunnels.

[0096] S3. According to the positioning information of the mobile beacon, the Mesh base station in the mobile beacon positioning network that is in the direction of the mobile beacon and has not yet established a communication connection with the mobile beacon and is closest to the mobile beacon is prepared to establish a communication connection.

[0097] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mobile beacon tracking method for a linearly arranged Mesh network environment, characterized in that: The steps include: S1. Set up several Mesh base stations linearly along the tunnel, and perform relay networking and configure mobile beacons to obtain a mobile beacon positioning network; S2. Based on the mobile beacon positioning network, the mobile beacon positioning and tracking is performed on the mobile target in the tunnel to obtain the positioning information of the mobile beacon.

2. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 1, characterized in that: The S1 comprises the following steps: S11, placing a number of Mesh base stations in a flat linear arrangement in the tunnel, wherein each Mesh base station uses a directional antenna; S12, relay networking is performed according to the directional antennas in each Mesh base station to obtain a wireless positioning network; S13, respectively setting base station coordinates for each Mesh base station in the wireless positioning network, and respectively setting mobile beacons for mobile targets linearly distributed along the tunnel path, to obtain a mobile beacon positioning network.

3. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 2, characterized in that: Each of the Mesh base stations broadcasts base station broadcast information having a unique identifier, coordinate information, and base station signal of the base station, and communicates with mobile beacons within the broadcast range of the base station to obtain the speed and position coordinates of each mobile beacon; Each mobile beacon obtains the base station broadcast information of each Mesh base station once at a preset interval, and obtains the unique identifier of each base station, the coordinate information of each base station, the corresponding reception time and the RSSI value corresponding to the base station signal strength based on the received base station broadcast information.

4. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 3, characterized in that: The S2 comprises the following steps: S21, based on the mobile beacon positioning network, using the mobile beacon to receive the base station broadcast information of several base stations respectively, obtain the unique identifiers of several Mesh base stations, the coordinate information of each base station, and the RSSI value corresponding to the base station signal strength, and record the receiving time; S22, selecting the RSSI values ​​corresponding to the two largest base station signal strengths, and extracting the unique identifiers and coordinate information of the Mesh base stations corresponding to the two RSSI values ​​respectively based on the base station broadcast information; S23, respectively input the two selected RSSI values ​​into the nonlinear RSSI ranging temperature and humidity correction model to obtain the corrected distance between the mobile beacon and the two Mesh base stations; S24, according to the RSSI relationship mapping table, based on the RSSI values ​​corresponding to the two largest base station signal strengths, obtain the closest distances between the mobile beacon and the two Mesh base stations respectively; S25, according to the corrected distances and the closest distances between the mobile beacon and the two Mesh base stations, based on the distance fusion model, obtain the distances between the mobile beacon and the two Mesh base stations, wherein the distance from the mobile beacon to one of the two Mesh base stations is d1, and the distance from the mobile beacon to the other of the two Mesh base stations is d2; S26, obtaining the coordinate information of the mobile beacon based on a coordinate distance association model according to the coordinate information of the Mesh base stations corresponding to the two RSSI values ​​and the distances from the mobile beacon to the two Mesh base stations; S27, based on S25 and S26, continuously obtaining coordinate information of the mobile beacon twice according to a preset unit time interval; S28, calculating the direction and speed of the mobile beacon based on the acquired two coordinate information of the mobile beacon and the speed direction model; S29. Use the most recent coordinate information, direction and speed of the mobile beacon as the positioning information of the mobile beacon.

5. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 4, characterized in that: The calculation expression of the nonlinear RSSI ranging temperature and humidity correction model in S23 is as follows: Among them, RSSI (d rssi ,T,H) represents the RSSI value when the corrected distance from the mobile beacon to the Mesh base station is drssi, the temperature is T and the humidity is H, RSSI(d0,T0,H0) represents the RSSI value when the reference distance is d0, the reference temperature is T0 and the reference humidity is H0, m represents the path loss coefficient, lg represents the logarithm operation with a base of 10, a0 represents the linear temperature adjustment coefficient, a1 represents the nonlinear temperature adjustment coefficient, b0 represents the linear humidity adjustment coefficient, b1 represents the nonlinear humidity adjustment coefficient, and c represents the temperature and humidity cross adjustment coefficient.

6. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 4, characterized in that: The method for obtaining the RSSI relationship mapping table in S24 comprises the following steps: A1. Based on the mobile beacon positioning network, the RSSI value corresponding to the signal strength of the Mesh base station received by the mobile beacon from a single Mesh base station and the distance between the mobile beacon and the Mesh base station are obtained respectively, and several RSSI distance data groups are formed; A2. Based on each RSSI distance data group, a one-to-one mapping relationship between RSSI values ​​and distances between mobile beacons and Mesh base stations is formed; A3. Based on the one-to-one mapping relationship between the RSSI values ​​of all Mesh base stations in the mobile beacon positioning network and the distance, an RSSI relationship mapping table is constructed.

7. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 4, characterized in that: The calculation expression of the distance fusion model in S25 is as follows: Among them, p rssi Represents the modified distance fusion weight coefficient, p table Represents the closest distance fusion weight coefficient, d rssi Indicates the corrected distance between the mobile beacon and the Mesh base station, d table It represents the closest distance between the mobile beacon and the Mesh base station, and d represents the distance between the mobile beacon and the Mesh base station.

8. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 4, characterized in that: The calculation expression of the coordinate distance association model in S26 is as follows: Where A represents the difference in the horizontal coordinates of the Mesh base station, x1 represents the horizontal coordinate of one of the two Mesh base stations, x2 represents the horizontal coordinate of the other Mesh base station, B represents the difference in the vertical coordinates of the Mesh base stations, y1 represents the vertical coordinate of one of the two Mesh base stations, y2 represents the vertical coordinate of the other Mesh base station, C represents the coefficient of the horizontal and vertical coordinate association term, x bc Indicates the horizontal coordinate of the mobile beacon, y bc Indicates the vertical coordinate of the mobile beacon.

9. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 8, characterized in that: The calculation expression of the velocity direction model is as follows: in, Represents the vector displacement distance between two coordinates of the mobile beacon, x bc1 Indicates the horizontal coordinate of the mobile beacon obtained for the first time, x bc2 Indicates the horizontal coordinate of the mobile beacon obtained for the second time, y bc1 Indicates the vertical coordinate of the mobile beacon obtained for the first time, y bc2 Indicates the vertical coordinate of the mobile beacon obtained for the second time.

10. The mobile beacon tracking method for a linearly arranged Mesh network environment according to claim 1, characterized in that: The following steps are also included: S3. According to the positioning information of the mobile beacon, the Mesh base station in the mobile beacon positioning network that is in the direction of the mobile beacon and has not yet established a communication connection with the mobile beacon and is closest to the mobile beacon is prepared to establish a communication connection.

Images