A method and system for positioning personnel in transition zone based on dynamic link inference

Abstract

The present invention discloses a method and system for positioning personnel in a transition zone based on dynamic link inference, wherein the method comprises positioning the transition zone and using a mobile terminal device to activate and scan surrounding Bluetooth devices, providing basic data for link generation; estimating a preliminary position; determining a first-level anchor point and determining a preset-level anchor point according to a weight reduction method; generating a preliminary link based on Bluetooth parameter data, assigning a weight to each node, and calculating an optimal path; forming multiple candidate paths according to the location information between the anchor point and the device, and comprehensively processing the information of different candidate paths to infer the final location of the device. In the transition zone at the outer edge of the building, the present invention combines RSSI, AoA and multi-path inference technology to achieve adaptive link optimization, real-time monitoring and adjustment of the positioning path, and effectively utilizes anchor point resources for position inference through anchor point hierarchical management and weight reduction mechanism, thereby enhancing positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a method and system for positioning personnel in a transition zone based on dynamic link inference. Background Art

[0002] At present, positioning technology has limitations in practical applications. In open areas (such as outdoors), GNSS positioning has high accuracy in obtaining the geographical location of the device by receiving satellite signals, but the effect is poor in densely built areas or blocked areas. In indoor or complex building environments, the Bluetooth beacon positioning method determines the location by deploying a Bluetooth beacon network. This method not only requires good indoor environmental signal coverage, but also requires the deployment of a large number of beacons. In areas with incomplete signal coverage, there are positioning blind spots. In order to make up for this deficiency, the deployment of outdoor Bluetooth beacons is not only costly, but also brings additional deployment and maintenance complexity. In addition, the positioning accuracy of transition areas (the outer edge of the building, the area where the GNSS signal is weak or unavailable, and the area where the indoor Bluetooth beacon cannot effectively cover) is often unstable due to interference from environmental factors, which further affects the overall reliability of positioning services. Therefore, an innovative technical solution is urgently needed to effectively solve the positioning problem in the transition area and ensure that stable and accurate positioning services can be provided in various environments. Summary of the invention

[0003] The present invention aims to solve the technical problems in the prior art that transition zone positioning has limitations and poor positioning accuracy, and provides a transition zone personnel positioning method and system based on dynamic link inference.

[0004] In view of the above technical problems, an embodiment of the present invention provides a method for locating personnel in a transition zone based on dynamic link inference, comprising:

[0005] Locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices. The mobile terminal device broadcasts a detection signal, listens for responses to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, which is synchronized with the central server or stored locally to provide basic data for link generation;

[0006] Using the Bluetooth parameter data, estimating the relative distance between the mobile terminal device and the Bluetooth device and estimating a preliminary position;

[0007] Determine the first-level anchor point for providing reference position information, and determine the preset-level anchor point according to the weight reduction method, and determine the mobile terminal device corresponding to the weight less than 1 as untrustworthy and remove it from the positioning link;

[0008] Generate preliminary links based on Bluetooth parameter data, assign weights to each node, calculate the optimal path, monitor the quality of the preliminary links in real time, and recalculate and select a new optimal path to dynamically adjust and optimize the link when the link quality decreases;

[0009] Based on the location information between the anchor point and the device, multiple candidate paths are formed, and the information of different candidate paths is comprehensively processed to infer the final location of the device. The final location of the device is regularly updated and compared with the anchor point location, and the position is corrected in time.

[0010] The present invention also provides a transition zone personnel positioning system based on dynamic link inference, comprising:

[0011] The transition zone positioning module is used to locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices. The mobile terminal device broadcasts the detection signal, listens for the response to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, which is synchronized with the central server or stored locally to provide basic data for link generation;

[0012] A preliminary position estimation module, used to estimate the relative distance between the mobile terminal device and the Bluetooth device and estimate the preliminary position using the Bluetooth parameter data;

[0013] Anchor point selection module, used to determine the first-level anchor point for providing reference position information, and determine the preset-level anchor point according to the weight reduction method, and determine the mobile terminal device corresponding to the weight less than 1 as untrustworthy and remove it from the positioning link;

[0014] The link generation and optimization module is used to generate preliminary links based on Bluetooth parameter data, assign weights to each node, calculate the optimal path, monitor the quality of the preliminary links in real time, and recalculate and select a new optimal path to dynamically adjust and optimize the link when the link quality decreases;

[0015] The multi-path inference and position update module is used to form multiple candidate paths based on the location information between the anchor point and the device, and comprehensively process the information of different candidate paths to infer the final location of the device, regularly update the final location of the device and compare it with the anchor point location, and perform position correction in a timely manner.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] In the present invention, the adaptive mutual positioning method and system based on the Bluetooth module of the mobile terminal device can significantly improve the positioning accuracy and adaptability in the transition area where the GNSS signal is insufficient or the indoor Bluetooth beacon signal coverage is incomplete through the following core features and technical innovations:

[0018] High-precision seamless positioning: This method and system cleverly combines fixed Bluetooth beacons in buildings, GNSS positioning in open areas, and mobile phone Bluetooth mutual positioning technology in the transition zone. In the transition zone, by dynamically generating and optimizing Bluetooth communication links, combined with RSSI, AoA and multi-path inference technology, high-precision positioning can be achieved even in environments with poor GNSS signals, ensuring seamless switching from outdoor to indoor.

[0019] Adaptive dynamic optimization mechanism: This method and system has the ability to monitor and dynamically adjust link quality in real time. Once the link quality is degraded or the anchor signal is weakened, the optimal anchor point will be reselected and the link connection will be adjusted based on the signal strength and position stability. This adaptive optimization mechanism ensures the stability and robustness of the positioning system in complex dynamic environments.

[0020] Anchor point hierarchical management and weight reduction: This method and system adopt an anchor point hierarchical management strategy, set different weights for anchor points of different levels, and optimize the path through a weight reduction algorithm. This mechanism effectively utilizes existing anchor point resources and can provide relatively accurate positioning even when there are insufficient anchor points, thereby enhancing the flexibility and adaptability of the system.

[0021] Multi-path inference improves accuracy: This method and system introduces a multi-path inference algorithm to infer the location of unknown devices by comprehensively processing multiple path information. This method is particularly effective in scenarios where multiple devices are densely deployed and can significantly reduce positioning errors.

[0022] Reduced deployment costs and commercialization potential: This method and system can greatly reduce deployment costs and are easy to maintain. It utilizes existing mobile phone Bluetooth modules and anchor devices. No additional hardware deployment is required, reducing the overall cost of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a method for locating personnel in a transition zone based on dynamic link inference in one embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of a transition zone personnel positioning system based on dynamic link inference in one embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In one embodiment, if Figure 1 A method for positioning personnel in a transition zone based on dynamic link inference, comprising:

[0027] S10. Locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices. The mobile terminal device broadcasts a detection signal, listens for responses to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, which is synchronized with the central server or stored locally to provide basic data for link generation. It can be understood that the specific scope of the transition zone is first located to clarify the environment in which the method of the present invention is applied, providing a premise and basis for subsequent operations.

[0028] In one embodiment, the step S10 includes the following steps:

[0029] S 101. The outer edge area of ​​the building where the mobile terminal device cannot receive effective GNSS signals and indoor Bluetooth beacon signals is positioned as a transition zone. It can be understood that the transition zone can be an outer edge area of ​​the building. If the GNSS signal is weak or unavailable, and the indoor Bluetooth beacon signal cannot be effectively covered or the Bluetooth beacon signal coverage is incomplete, such an area is determined as a transition zone.

[0030] S102, the mobile terminal device activates the Bluetooth module in the transition zone to scan the Bluetooth devices around the transition zone, and broadcasts the detection signal at the same time, and listens to the response signal of the scanned Bluetooth device to establish a preliminary connection; it can be understood that the mobile terminal device refers to a computer terminal device that can be carried and operated in a mobile network, and its main feature is strong portability, and it can access the network anytime and anywhere to exchange information; the mobile terminal device includes but is not limited to mobile phones, tablet computers, etc. After activating the Bluetooth module, the mobile terminal device can actively scan the Bluetooth devices in the transition zone to identify other Bluetooth devices in the environment around the transition zone, laying the foundation for subsequent connection and data exchange. By broadcasting the detection signal, the mobile terminal device can actively send a connection request to other Bluetooth devices in the surrounding environment, and listen to the response signal of the scanned Bluetooth device. Once the response signal is received, the mobile terminal device can establish a communication link with the target device to establish a preliminary connection to achieve data exchange and sharing.

[0031] Among them, the active scanning and broadcasting functions of the Bluetooth module make the connection process between devices more efficient. Compared with the traditional passive waiting connection method, this active connection method can find and connect to the target device faster. By listening to the response signal and establishing a preliminary connection, the mobile terminal device can ensure that the communication link with the target device is stable and reliable, which helps reduce the risk of connection interruption and data loss.

[0032] S103, summarize the relevant information of the scanned Bluetooth device into Bluetooth parameter data, the relevant information includes the address of the Bluetooth device, the signal strength RSSI of the beacon and the arrival angle AoA, synchronize it with the central server or store it locally, and provide basic data for link generation. Understandably, the relevant information mainly includes the address of the Bluetooth device, the signal strength RSSI of the beacon and the arrival angle AoA, wherein the address of the Bluetooth device is the basic identification for identifying and distinguishing different devices; the signal strength RSSI of the beacon reflects the distance relationship between the Bluetooth device and the receiver, and the relative distance between the devices can be estimated by the attenuation of the RSSI value. The arrival angle AoA is the angle of arrival of the measured signal, which can further determine the orientation of the device and improve the positioning accuracy. These relevant information are synchronized with the central server or stored locally and summarized into Bluetooth parameter data, and the Bluetooth parameter data also includes connection parameters, modulation mode, frequency band, data rate and security parameters. Bluetooth parameter data provides necessary input for link layer control, which helps to generate efficient and stable communication links. By analyzing RSSI and AoA data, connection parameters (such as connection interval, slave device delay, monitoring timeout, etc.) can be optimized to balance power consumption and communication quality.

[0033] S20, using the Bluetooth parameter data to estimate the relative distance between the mobile terminal device and the Bluetooth device and to estimate a preliminary position; understandably, the Bluetooth parameter data is used to estimate the relative distance between the mobile terminal device and the Bluetooth device, and the preliminary position is estimated accordingly.

[0034] In one embodiment, the step S20 includes the following steps:

[0035] S201, collecting Bluetooth parameter data, where the signal strength RSSI of the beacon reflects the strength of the signal, and the angle of arrival AoA is used to accurately measure the direction of the signal;

[0036] S202: construct a logarithmic distance path loss model to estimate the relative distance between the mobile terminal device and the Bluetooth device. The mathematical expression of the logarithmic distance path loss model is:

[0037]

[0038] Among them, D i Represents the relative distance, P tx Indicates the transmit power, RSSI i represents the signal strength of the beacon, d0 represents the reference distance, PL(d0) represents the path loss at the reference distance d0, and n represents the loss exponent;

[0039] According to the measured arrival angle AoA and relative distance D of the Bluetooth signal i, combined with the reference antenna direction, calculate the coordinates d(x, y) of the preliminary position, and the calculation method of the coordinates is:

[0040] x=d×CoS(θ), y=d×sin(θ)(2)

[0041] Where θ is the angle of arrival of the Bluetooth signal;

[0042] S203: Calculate the average distance between the mobile terminal device and the Bluetooth device according to the relative distances measured multiple times, and estimate the preliminary position based on the average distance.

[0043] It can be understood that the main steps for constructing the logarithmic distance path loss model are data collection, model building, parameter adjustment and optimization, etc. The logarithmic distance path loss model may need to be modified and adjusted according to the specific situation to obtain a more accurate path loss prediction result. After obtaining the relative distance p and the arrival angle AoA, the coordinates of the preliminary position can be calculated in combination with the direction of the reference antenna. This process utilizes the principle of triangulation to determine the position of a point in two-dimensional space by angle and distance. In order to further improve the accuracy of position estimation, the average distance can be calculated based on the relative distances of multiple measurements, and the preliminary position can be re-estimated based on this average distance. This method can reduce the impact of a single measurement error on the final result.

[0044] S30, determining a first-level anchor point for providing reference position information, and determining a preset-level anchor point according to a weight reduction method, and determining a mobile terminal device corresponding to a weight less than 1 as untrustworthy, and removing it from the positioning link.

[0045] In one embodiment, the step S30 includes the following steps:

[0046] S301, preferentially identifying the anchor point positioned by the Bluetooth beacon and the anchor point positioned by the GNSS as the primary anchor point, providing location information for other devices through the primary anchor point device, and assigning the highest weight to the device, positioning the highest weight of the anchor point positioned by the Bluetooth beacon as the first preset weight, and positioning the highest weight of the anchor point positioned by the GNSS as the second preset weight;

[0047] S302: Determine the second-level anchor point, the third-level anchor point, and finally the preset-level anchor point of the first-level anchor point according to the weight reduction method, wherein the weight reduction method is specifically as follows:

[0048] The weight difference between each level of anchor points is set to a preset difference. The weight of the second-level anchor point located by the Bluetooth beacon is the first preset weight of the first-level anchor point located by the Bluetooth beacon minus the preset difference. The weight of the third-level anchor point located by the Bluetooth beacon is the weight of the second-level anchor point minus the preset difference. This process is repeated until the weight of the tenth-level anchor point located by the Bluetooth beacon is obtained.

[0049] The weight of the secondary anchor point of GNSS positioning is the second preset weight of the primary anchor point of GNSS positioning minus the preset difference, the weight of the tertiary anchor point of GNSS positioning is the weight of the secondary anchor point minus the preset difference, and so on until the weight of the tenth anchor point of GNSS positioning is obtained;

[0050] The second-level anchor point of Bluetooth beacon positioning and the second-level anchor point of GNSS positioning are determined as the second-level anchor point, the third-level anchor point of Bluetooth beacon positioning and the third-level anchor point of GNSS positioning are determined as the third-level anchor point, and so on, until the preset-level anchor point is determined;

[0051] S303: Determine anchor points of all levels as positioning links, and determine mobile terminal devices corresponding to weights less than 1 as untrustworthy, and remove them from the positioning link.

[0052] Understandably, the system first identifies devices that can receive GNSS signals and devices located by indoor Bluetooth beacons as primary anchor points. In a specific embodiment, the anchor point weight for beacon positioning can be set to 100, and the anchor point weight for GNSS positioning can be set to 98. These provide benchmark information as primary anchor points and are uploaded to the server for subsequent link generation and optimization.

[0053] GNSS positioning (such as civilian GPS) has an accuracy of about 3.10 meters, and the positioning accuracy of fixed Bluetooth AoA beacons can reach decimeter-level accuracy, that is, less than 1 meter. Although both are objective positioning mechanisms outside the system, the GNSS positioning accuracy is slightly lower, so its weight value is reduced. If a device can receive GNSS signals and indoor Bluetooth beacons at the same time, the Bluetooth beacon with a higher weight is used for positioning.

[0054] The device whose position is inferred based on the first-level anchor point is called the second-level anchor point. The weight of the second-level anchor point is the weight of the previous-level anchor point minus the preset difference. The preset difference can be set to 10, that is, the weight of the second-level anchor point is 90 (first-level anchor point based on beacon positioning) or 88 (first-level anchor point based on GNSS positioning); and so on, the weight of the third-level anchor point is 80 or 78, the weight of the fourth-level anchor point is 70 or 68, and so on, until the weight of the tenth-level anchor point is 10 or 8; when the weight of a device is less than 1, the device will be considered untrustworthy and cannot be used as an anchor point in the subsequent positioning link.

[0055] In the above-mentioned embodiment of the present invention, the specific value of the preset difference can be set according to the demand, and the setting of the preset difference for decreasing the anchor weight value mainly serves to finely control the contribution of each anchor point to the final position in the positioning calculation, so as to achieve a more accurate and robust positioning effect. Specifically, this mechanism ensures that the anchor points close to the target or with high signal quality obtain higher weights by constructing a weight gradient, so as to play a greater role in the positioning process; at the same time, as the distance between the anchor point and the target increases or the signal quality decreases, its weight gradually decreases to reduce the negative impact on the positioning result; the setting of the preset difference not only avoids ignoring the useful information that may be carried by the distant anchor point due to too low weight, but also prevents the noise interference of the distant anchor point when the weight is too high, so as to find the best balance between information utilization and noise suppression. In addition, the mechanism also gives the system a high degree of adaptability to different environments and dynamic changes. By flexibly adjusting the decreasing amplitude, it can automatically optimize the weight distribution of the anchor point to cope with complex and changeable positioning scenarios and improve the accuracy and stability of positioning.

[0056] In the above embodiment of the present invention, the use of the weight reduction method can ensure that the high-weight anchor point provides reference position information during the positioning process, thereby increasing the stability of positioning. Specifically, as a fixed reference point of a known position, the anchor point plays a core role in the positioning process. The anchor point weight reduction rule is introduced to optimize the positioning performance. The method dynamically adjusts the weight of the anchor point in the positioning calculation based on factors such as the distance from the anchor point to the target (such as a mobile device) or the signal quality; the anchor point with a short distance or high signal quality is given a higher weight because it can provide more accurate location information, while the anchor point with a long distance or poor signal quality is given a lower weight as its contribution to the positioning accuracy decreases. This method aims to: first, give priority to the use of high-quality short-distance anchor point information to improve the positioning accuracy; second, by reducing the weight of unreliable anchor points (such as anchor points far away from the target or affected by the environment), effectively reduce the interference of noise and errors on the positioning results, thereby enhancing the accuracy and stability of positioning; finally, enhance the robustness of the positioning system to ensure that in a multi-anchor environment, even if some anchor point signals are affected, the target position can be accurately determined through the stable information of high-weight anchor points.

[0057] S40, generating a preliminary link based on Bluetooth parameter data, assigning weights to each node, calculating the optimal path, monitoring the quality of the preliminary link in real time, and recalculating and selecting a new optimal path to dynamically adjust and optimize the link when the link quality decreases.

[0058] In one embodiment, the step S40 includes:

[0059] S401, generating a preliminary link based on RSSI data and AoA data through Bluetooth communication between the mobile terminal device and surrounding Bluetooth devices, and each device calculates a relative position based on the RSSI data and AoA data of its anchor point or other devices;

[0060] S402, assigning a weight to each node based on the Dijkstra algorithm, and calculating the optimal path, the mathematical expression of the total cost of the optimal path is:

[0061]

[0062] Where C is the total cost of the optimal path, d i Indicates the distance between devices. RSSI i Indicates the signal strength of the beacon, w i Indicates the weight of the device. Since the weight decreases based on the anchor point level, during the link generation and optimization process, the system gives priority to paths connected by high-weight anchor points to ensure the stability and reliability of the path.

[0063] S403. Collect the status information of each preliminary link in real time. Generate several candidate paths based on the currently available anchor points and network topology. Calculate the total path loss of the candidate paths and give a comprehensive score to the candidate paths. Then calculate and select the optimal path. As the environment changes or the device moves, the system continuously monitors the link quality. If the link quality is found to be degraded (such as signal strength weakening), the system will automatically recalculate and select a new optimal path to ensure positioning accuracy.

[0064] In one embodiment, step S403 includes the following steps:

[0065] S4031. The preliminary link status information includes the signal strength of the link beacon, and the signal strength RSSI of each link beacon is collected and monitored in real time. i , set the signal strength threshold to S th , if RSSI i th , then the link quality is considered to be degraded and a new path needs to be recalculated;

[0066] S4032: Generate several candidate paths P based on currently available anchor points and network topology j (j=1, 2, ... n);

[0067] S4033, calculate each candidate path P j The total path loss L j , then the mathematical expression of the total path loss of the preliminary link is:

[0068] ​

[0069] Among them, l ij represents the preliminary link loss, m represents the number of preliminary links;

[0070] S4034, obtaining a comprehensive score Q of the preliminary links according to the weighted average of the preliminary links j , its mathematical expression is:

[0071]

[0072] Among them, F i represents the weight of the i-th link, Q i represents the quality of the i-th preliminary link;

[0073] S4035: According to the total path loss L j , the comprehensive score Q of the preliminary link j and minimum delay D j Construct objective function to estimate the optimal path P * , the mathematical expression of the objective function is:

[0074] P * =argmin j (α·L j -β·Q j +γ·D j ) (6)

[0075] Among them, α, β, and γ are weight coefficients used to balance different objectives;

[0076] S4036, after determining the optimal path P * Afterwards, switch to the optimal path as the new path.

[0077] S4037: Continue to monitor the quality of the preliminary link in real time. When the quality of the preliminary link is detected to decrease again, repeat steps S4031 to S4036. * After that, the system will gradually switch to the new path to ensure the continuity and stability of positioning in the process; this process monitors the link quality in real time, generates a set of candidate paths, calculates and optimizes the path loss and quality score, and finally selects the optimal path and dynamically adjusts the system settings to ensure the accuracy and stability of positioning.

[0078] In the above-mentioned embodiments of the present invention, the dynamic adjustment of the optimal path shows higher flexibility and adaptability in path selection. The core difference between it and the prior art is the introduction of specific weights of nodes or edges, which not only enables the algorithm to handle more complex and diverse scenarios, such as considering the importance of different anchor points or differences in link quality, but also allows a multi-objective optimization strategy to comprehensively evaluate multiple factors such as path length, link quality, signal strength, etc., so as to select the optimal path. In addition, the algorithm supports dynamic adjustment of weights and can respond to environmental changes or system requirements in real time, such as device movement or link quality fluctuations, to ensure the effectiveness and applicability of the algorithm in different scenarios. This adaptability is also reflected in the fact that the algorithm can automatically adjust the weights of poor-quality links or nodes to avoid selecting bad paths. Finally, by optimizing computational efficiency, the weight-based optimal path algorithm can converge to the optimal solution faster in a highly dynamic environment, providing the system with a more accurate, reliable and efficient path selection solution.

[0079] S50. Based on the position information between the anchor point and the device, multiple candidate paths are formed, and the information of different candidate paths is comprehensively processed to infer the final position of the device. The final position of the device is regularly updated and compared with the anchor point position, and the position is corrected in time.

[0080] In one embodiment, the step S50 further includes the following steps:

[0081] S501, forming multiple candidate paths based on the location information between the anchor point and the device calculated according to different paths, and scoring each candidate path according to the path length, the signal strength of the beacon and the path weight;

[0082] S502: Comprehensively process the information of different paths and use the weighted average method to infer the final position P of the device. final , its mathematical expression is as follows:

[0083]

[0084] Among them, P j is the device location inferred from the jth path, F j represents the weight of the jth link;

[0085] S503. Compare the final position of the device with the anchor point position in a timely manner and perform position correction. If the inferred final position is significantly different from the anchor point, repeat step S501. Step S503.

[0086] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0087] In one embodiment, the present invention further provides a transition zone personnel positioning system based on dynamic link inference, and the transition zone personnel positioning system based on dynamic link inference corresponds to the transition zone personnel positioning method based on dynamic link inference in the above embodiment. Figure 2 As shown, the transition zone personnel positioning system based on dynamic link inference includes:

[0088] The transition zone positioning module is used to locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices. The mobile terminal device broadcasts the detection signal, listens for the response to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, which is synchronized with the central server or stored locally to provide basic data for link generation;

[0089] A preliminary position estimation module, used to estimate the relative distance between the mobile terminal device and the Bluetooth device and estimate the preliminary position using the Bluetooth parameter data;

[0090] Anchor point selection module, used to determine the first-level anchor point for providing reference position information, and determine the preset-level anchor point according to the weight reduction method, and determine the mobile terminal device corresponding to the weight less than 1 as untrustworthy and remove it from the positioning link;

[0091] The link generation and optimization module is used to generate preliminary links based on Bluetooth parameter data, assign weights to each node, calculate the optimal path, monitor the quality of the preliminary links in real time, and recalculate and select a new optimal path to dynamically adjust and optimize the link when the link quality decreases;

[0092] The multi-path inference and position update module is used to form multiple candidate paths based on the location information between the anchor point and the device, and comprehensively process the information of different candidate paths to infer the final location of the device, regularly update the final location of the device and compare it with the anchor point location, and perform position correction in a timely manner.

[0093] For the specific definition of the transition zone personnel positioning system based on dynamic link inference, please refer to the definition of the transition zone personnel positioning method based on dynamic link inference above, which will not be repeated here. Each module in the above-mentioned transition zone personnel positioning based on dynamic link inference can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0094] The above are merely embodiments of the method and system for locating personnel in a transition zone based on dynamic link inference of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for locating personnel in a transition zone based on dynamic link inference, characterized in that: include: S10, locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices, the mobile terminal device broadcasts a detection signal, listens for responses to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, and synchronizes with the central server or stores it locally to provide basic data for link generation; S20, estimating the relative distance between the mobile terminal device and the Bluetooth device and estimating a preliminary position using the Bluetooth parameter data; S30, determining a first-level anchor point for providing reference position information, and determining a preset-level anchor point according to a weight reduction method, and determining a mobile terminal device corresponding to a weight less than 1 as untrustworthy, and removing it from the positioning link; the method includes: S301, preferentially identifying the anchor point positioned by the Bluetooth beacon and the anchor point positioned by the GNSS as the primary anchor point, providing location information for other devices through the primary anchor point device, and assigning the highest weight to the device, positioning the highest weight of the anchor point positioned by the Bluetooth beacon as the first preset weight, and positioning the highest weight of the anchor point positioned by the GNSS as the second preset weight; S302: Determine the second-level anchor point, the third-level anchor point, and finally the preset-level anchor point of the first-level anchor point according to the weight reduction method, wherein the weight reduction method is specifically as follows: The weight difference between each level of anchor points is set to a preset difference. The weight of the second-level anchor point of Bluetooth beacon positioning is the first preset weight of the first-level anchor point of Bluetooth beacon positioning minus the preset difference. The weight of the third-level anchor point of Bluetooth beacon positioning is the weight of its second-level anchor point minus the preset difference, and so on until the weight of the tenth-level anchor point of Bluetooth beacon positioning is obtained; The weight of the secondary anchor point of GNSS positioning is the second preset weight of the primary anchor point of GNSS positioning minus the preset difference, the weight of the tertiary anchor point of GNSS positioning is the weight of the secondary anchor point minus the preset difference, and so on until the weight of the tenth anchor point of GNSS positioning is obtained; The second-level anchor point of Bluetooth beacon positioning and the second-level anchor point of GNSS positioning are determined as the second-level anchor point, the third-level anchor point of Bluetooth beacon positioning and the third-level anchor point of GNSS positioning are determined as the third-level anchor point, and so on, until the preset-level anchor point is determined; S303: Determine anchor points of all levels as positioning links, and determine mobile terminal devices corresponding to weights less than 1 as untrustworthy, and remove them from the positioning link; S40, generating a preliminary link based on Bluetooth parameter data, assigning weights to each node, calculating an optimal path, monitoring the quality of the preliminary link in real time, and recalculating and selecting a new optimal path to dynamically adjust and optimize the link when the link quality decreases; the method includes: S401, generating a preliminary link based on RSSI data and AoA data through Bluetooth communication between the mobile terminal device and surrounding Bluetooth devices, and each device calculates a relative position based on the RSSI data and AoA data of its anchor point or other devices; S402, assigning a weight to each node based on the Dijkstra algorithm, and calculating the optimal path, the mathematical expression of the total cost of the optimal path is: Among them, C is the total cost of the optimal path, d i Indicates the distance between devices, RSSI i Indicates the signal strength of the beacon, w i Indicates the weight of the device; S403, collecting the status information of each preliminary link in real time, generating several candidate paths based on the currently available anchor points and network topology, calculating the total path loss of the candidate paths and comprehensively scoring the candidate paths, and then calculating and selecting the optimal path; S50, forming multiple candidate paths based on the location information between the anchor point and the device, and comprehensively processing the information of different candidate paths to infer the final location of the device, regularly updating the final location of the device and comparing it with the anchor point location, and timely correcting the location; the method includes: S501, forming multiple candidate paths based on the location information between the anchor points and the devices calculated according to different paths, and scoring each candidate path according to the path length, the signal strength of the beacon and the path weight; S502: Comprehensively process the information of different paths and use the weighted average method to infer the final position P of the device. final , its mathematical expression is as follows: Among them, P j is the device location inferred from the jth path, F j represents the weight of the jth link; S503: Compare the final position of the device with the anchor point position in a timely manner and perform position correction. If the inferred final position is significantly different from the anchor point, repeat steps S501 to S503.

2. The method for locating personnel in a transition zone based on dynamic link inference according to claim 1, characterized in that: The step S10 comprises the following steps: S101, positioning the outer edge area of ​​the building where the mobile terminal device cannot receive valid GNSS signals and indoor Bluetooth beacon signals as a transition zone; S102, the mobile terminal device activates the Bluetooth module in the transition zone to scan the Bluetooth devices around the transition zone, and simultaneously broadcasts a detection signal, and listens for a response signal from the scanned Bluetooth device to establish a preliminary connection; S103, summarize the relevant information of the scanned Bluetooth devices into Bluetooth parameter data, the relevant information including the address of the Bluetooth device, the signal strength RSSI and the arrival angle AoA of the beacon, synchronize it with the central server or store it locally to provide basic data for link generation.

3. The method for locating personnel in a transition zone based on dynamic link inference according to claim 2, characterized in that: The step S20 comprises the following steps: S201, collecting Bluetooth parameter data, where the signal strength RSSI of the beacon reflects the strength of the signal, and the angle of arrival AoA is used to accurately measure the direction of the signal; S202: construct a logarithmic distance path loss model to estimate the relative distance between the mobile terminal device and the Bluetooth device. The mathematical expression of the logarithmic distance path loss model is: Among them, D i Represents the relative distance, P tx Indicates the transmit power, RSSI i represents the signal strength of the beacon, d0 represents the reference distance, PL(d0) represents the path loss at the reference distance d0, and n represents the loss index; According to the measured arrival angle AoA and relative distance D of the Bluetooth signal i , combined with the reference antenna direction, calculate the coordinates d(x, y) of the preliminary position. The calculation method of the coordinates is: x=d×cos(θ), y=d×sin(θ) (2) Where θ is the angle of arrival of the Bluetooth signal; S203: Calculate the average distance between the mobile terminal device and the Bluetooth device according to the relative distances measured multiple times, and estimate the preliminary position based on the average distance.

4. The method for locating personnel in a transition zone based on dynamic link inference according to claim 1, characterized in that: The step S403 includes the following steps: S4031. The preliminary link status information includes the signal strength of the link beacon, and the signal strength RSSI of each link beacon is collected and monitored in real time. i , set the signal strength threshold to S th , if RSSI i th , then the link quality is considered to be degraded and a new path needs to be recalculated;​ S4032: Generate several candidate paths P based on currently available anchor points and network topology j (j=1, 2, ... n); S4033, calculate each candidate path P j The total path loss L j , then the mathematical expression of the total path loss of the preliminary link is: Among them, l ij represents the preliminary link loss, m represents the number of preliminary links; S4034, obtain the comprehensive score Q of the preliminary link according to the weighted average of each preliminary link j , its mathematical expression is: Among them, F i represents the weight of the i-th link, Q i represents the quality of the i-th preliminary link; S4035: According to the total path loss L j , the comprehensive score Q of the preliminary link j and minimum delay D j Construct objective function to estimate the optimal path P * , the mathematical expression of the objective function is: P * =argmin j (a·L j -β·Q j +γ·D j ) (6) Among them, α, β, and γ are weight coefficients used to balance different objectives; S4036, after determining the optimal path P * After that, switch to the optimal path as the new path; S4037. Continue to monitor the quality of the preliminary link in real time. When it is detected that the quality of the preliminary link decreases again, repeat steps S4031 to S4036.

5. A transition zone personnel positioning system based on dynamic link inference, characterized in that: include: The transition zone positioning module is used to locate the transition zone and activate the Bluetooth module in the transition zone using the mobile terminal device to scan the surrounding Bluetooth devices. The mobile terminal device broadcasts the detection signal, listens for the response to establish a preliminary connection, and summarizes the scanned Bluetooth device information into Bluetooth parameter data, which is synchronized with the central server or stored locally to provide basic data for link generation; A preliminary position estimation module, used to estimate the relative distance between the mobile terminal device and the Bluetooth device and estimate the preliminary position using the Bluetooth parameter data; The anchor point selection module is used to determine the first-level anchor point for providing reference position information, and determine the preset-level anchor point according to the weight reduction method, and determine the mobile terminal device corresponding to the weight less than 1 as untrustworthy, and remove it from the positioning link; the method includes: S301, preferentially identifying the anchor point positioned by the Bluetooth beacon and the anchor point positioned by the GNSS as the primary anchor point, providing location information for other devices through the primary anchor point device, and assigning the highest weight to the device, positioning the highest weight of the anchor point positioned by the Bluetooth beacon as the first preset weight, and positioning the highest weight of the anchor point positioned by the GNSS as the second preset weight; S302: Determine the second-level anchor point, the third-level anchor point, and finally the preset-level anchor point of the first-level anchor point according to the weight reduction method, wherein the weight reduction method is specifically as follows: The weight difference between each level of anchor points is set to a preset difference. The weight of the second-level anchor point located by the Bluetooth beacon is the first preset weight of the first-level anchor point located by the Bluetooth beacon minus the preset difference. The weight of the third-level anchor point located by the Bluetooth beacon is the weight of the second-level anchor point minus the preset difference. This process is repeated until the weight of the tenth-level anchor point located by the Bluetooth beacon is obtained. The weight of the secondary anchor point of GNSS positioning is the second preset weight of the primary anchor point of GNSS positioning minus the preset difference, the weight of the third-level anchor point of GNSS positioning is the weight of its second-level anchor point minus the preset difference, and so on until the weight of the tenth-level anchor point of GNSS positioning is obtained; The second-level anchor point of Bluetooth beacon positioning and the second-level anchor point of GNSS positioning are determined as the second-level anchor point, the third-level anchor point of Bluetooth beacon positioning and the third-level anchor point of GNSS positioning are determined as the third-level anchor point, and so on, until the preset-level anchor point is determined; S303: Determine anchor points of all levels as positioning links, and determine mobile terminal devices corresponding to weights less than 1 as untrustworthy, and remove them from the positioning link; The link generation and optimization module is used to generate a preliminary link based on Bluetooth parameter data, assign weights to each node, calculate the optimal path, monitor the quality of the preliminary link in real time, and recalculate and select a new optimal path to dynamically adjust and optimize the link when the link quality decreases; the method includes: S401, generating a preliminary link based on RSSI data and AoA data through Bluetooth communication between the mobile terminal device and surrounding Bluetooth devices, and each device calculates a relative position based on the RSSI data and AoA data of its anchor point or other devices; S402, assigning a weight to each node based on the Dijkstra algorithm, and calculating the optimal path, the mathematical expression of the total cost of the optimal path is: Where C is the total cost of the optimal path, d i Indicates the distance between devices, RSSI i Indicates the signal strength of the beacon, w i Indicates the weight of the device; S403, collecting the status information of each preliminary link in real time, generating several candidate paths based on the currently available anchor points and network topology, calculating the total path loss of the candidate paths and comprehensively scoring the candidate paths, and then calculating and selecting the optimal path; The multi-path inference and position update module is used to form multiple candidate paths based on the position information between the anchor point and the device, and to comprehensively process the information of different candidate paths, infer the final position of the device, regularly update the final position of the device and compare it with the anchor point position, and perform position correction in time; the method includes: S501, forming multiple candidate paths based on the location information between the anchor point and the device calculated according to different paths, and scoring each candidate path according to the path length, the signal strength of the beacon and the path weight; S502: Comprehensively process the information of different paths and use the weighted average method to infer the final position P of the device. final , its mathematical expression is as follows: Among them, P j is the device location inferred from the jth path, F j represents the weight of the jth link; S503: Compare the final position of the device with the anchor point position in a timely manner and perform position correction. If the inferred final position is significantly different from the anchor point, repeat steps S501 to S503.

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