Bluetooth positioning test method, Bluetooth positioning test device and storage medium

Abstract

The invention discloses a Bluetooth positioning test method, a Bluetooth positioning test device and a computer storage medium, and the Bluetooth positioning test method comprises the steps: collecting a plurality of images for a positioning region where a test target is located, and reconstructing a first scene model of the positioning region through employing the plurality of images, acquiring a first positioning coordinate of the test target from the first scene model; acquiring Bluetooth data of the positioning area, reconstructing a second scene model of the positioning area based on the Bluetooth data, and acquiring a second positioning coordinate of the test target from the second scene model; and obtaining first difference information of the first positioning coordinate and the second positioning coordinate, obtaining positioning precision of the Bluetooth device based on the difference information, and outputting a positioning test result of the Bluetooth device by using the positioning precision. By means of the mode, the positioning information obtained through the high-precision map can be compared with the Bluetooth positioning information, and the precision and accuracy of the Bluetooth indoor positioning algorithm are quantified according to the difference between the positioning information and the Bluetooth positioning information.

Description

Technical Field

[0001] The present application relates to the field of Bluetooth positioning, and in particular to a Bluetooth positioning test method, a Bluetooth positioning test device and a storage medium. Background Art

[0002] With the continuous development of computer image processing technology, various AR-based technologies have also developed, and AR navigation is one of them. The common indoor positioning system GPS is usually used for outdoor positioning. When it is inside a building, the GPS positioning may be inaccurate due to interference with the GPS signal. AR navigation combines map information with the acquired real scene to achieve accurate navigation indoors.

[0003] In one application scenario, AR navigation needs to use Bluetooth as an auxiliary positioning. Bluetooth positioning can provide the position coordinates of real objects in AR applications, so as to realize the position conversion between virtual objects and real environment in AR applications. However, the accuracy of Bluetooth positioning results can only be determined by comparing the feelings experienced by people on site with the Bluetooth positioning results. The subjective feelings vary from person to person and are not referenceable. Moreover, human feelings can only cover part of the scene and cannot feel the entire scene. Summary of the invention

[0004] The main technical problem solved by the embodiments of the present application is how to accurately measure the accuracy of the Bluetooth positioning algorithm. To this end, the present application provides a Bluetooth positioning test method, a Bluetooth positioning test device and a storage medium.

[0005] To solve the above technical problems, a technical solution adopted in an embodiment of the present application is: to provide a Bluetooth positioning test method, the method comprising: collecting a number of images of the positioning area where the test target is located, and using the number of images to reconstruct a first scene model of the positioning area, and obtaining the first positioning coordinates of the test target from the first scene model; obtaining Bluetooth data of the positioning area, and based on the Bluetooth data, reconstructing a second scene model of the positioning area, and obtaining the second positioning coordinates of the test target from the second scene model; obtaining first difference information between the first positioning coordinates and the second positioning coordinates, and obtaining the positioning accuracy of the Bluetooth device based on the difference information, and using the positioning accuracy to output the positioning test result of the Bluetooth device.

[0006] Optionally, obtaining first difference information between the first positioning coordinates and the second positioning coordinates includes: transforming the first positioning coordinates from the camera coordinate system to a preset coordinate system to generate a third positioning coordinate; transforming the second positioning coordinates from the Bluetooth coordinate system to the preset coordinate system to generate a fourth positioning coordinate; and calculating the first difference information between the third positioning coordinates and the fourth positioning coordinates.

[0007] Optionally, after obtaining the first difference information between the first positioning coordinates and the second positioning coordinates, the method further includes: calibrating the first scene model and the second scene model based on at least one test target and the first difference information between the first positioning coordinates and the second positioning coordinates of each of the test targets; and visually outputting the calibrated first scene model and the second scene model.

[0008] Optionally, first difference information between the first positioning coordinates and the second positioning coordinates is obtained, and the positioning accuracy of the Bluetooth device is obtained based on the difference information, including: obtaining the first difference information between the first positioning coordinates and the second positioning coordinates; based on the first difference information, obtaining the absolute distance between the first positioning coordinates and the second positioning coordinates; and evaluating the positioning accuracy of the Bluetooth device according to the absolute distance.

[0009] Optionally, evaluating the positioning accuracy of the Bluetooth device according to the absolute distance includes: presetting a plurality of evaluation criteria for positioning accuracy, each evaluation criterion corresponding to a distance range; and determining the positioning accuracy of the Bluetooth device according to the distance range in which the absolute distance exists.

[0010] Optionally, after determining the positioning accuracy of the Bluetooth device according to the distance range of the absolute distance, the method also includes: obtaining the positioning accuracy of multiple test targets; taking a test target among the multiple test targets whose positioning accuracy is above a preset positioning accuracy as a successful test target; and determining the positioning success rate of the Bluetooth device based on the ratio of the number of successful test targets to the total number of multiple test targets.

[0011] Optionally, after obtaining the second positioning coordinates of the test target from the second scene model, the method further includes: obtaining the time consumed to determine the second positioning coordinates of the test target; and determining a time consumption index of the Bluetooth device based on the time consumption.

[0012] Optionally, after determining the positioning success rate of the Bluetooth device, the method further includes: debugging positioning algorithm parameters of the Bluetooth device based on the positioning success rate, time consumption index and positioning accuracy of the Bluetooth device.

[0013] To solve the above technical problems, another technical solution adopted in the embodiment of the present application is: to provide a Bluetooth positioning test device, which includes a processor and a memory, the memory is coupled to the processor, the memory stores program data, and the processor is used to execute the program data to implement the Bluetooth positioning test method as mentioned above.

[0014] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present application is: providing a computer-readable storage medium, which stores program data. When the program data is executed, it is used to implement the above Bluetooth positioning test method.

[0015] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the Bluetooth positioning test method provided by the present invention is applied to a Bluetooth positioning test device, the Bluetooth positioning test device collects a number of images of the positioning area where the test target is located, and uses the several images to reconstruct the first scene model of the positioning area, and obtains the first positioning coordinates of the test target from the first scene model; obtains Bluetooth data of the positioning area, and based on the Bluetooth data, reconstructs the second scene model of the positioning area, and obtains the second positioning coordinates of the test target from the second scene model; obtains the first difference information between the first positioning coordinates and the second positioning coordinates, and obtains the positioning accuracy of the Bluetooth device based on the difference information, and outputs the positioning test result of the Bluetooth device using the positioning accuracy. In the above manner, compared with the conventional Bluetooth positioning test method, the method adopted in the embodiment of the present application, which uses the Bluetooth positioning test device to collect a number of images of the positioning area where the test target is located and uses the images to reconstruct the scene model of the positioning area, can compare the coordinates obtained by Bluetooth positioning with the coordinates obtained in the scene reconstructed by the high-precision map, so as to quantify the precision and accuracy of Bluetooth positioning, and avoid the problem of inaccurate and objective evaluation due to artificial evaluation of the results of Bluetooth positioning. The Bluetooth positioning test method of the embodiment of the present application can use high-precision maps to accurately and objectively verify the precision and accuracy of the Bluetooth positioning algorithm, and can debug the Bluetooth device through this test result to improve the positioning accuracy of the Bluetooth device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] in:

[0018] Figure 1 It is a flowchart of the first embodiment of the Bluetooth positioning test method provided by the present application;

[0019] Figure 2 It is a flowchart of Bluetooth device positioning in the Bluetooth positioning test method provided by this application;

[0020] Figure 3 A schematic diagram of the flow chart of the second embodiment of the Bluetooth positioning test method provided by this application;

[0021] Figure 4 It is a structural schematic diagram of the first embodiment of the Bluetooth positioning test device provided by the present application;

[0022] Figure 5It is a structural schematic diagram of the second embodiment of the Bluetooth positioning test device provided by the present application;

[0023] Figure 6 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] See also Figure 1 , Figure 1 It is a flowchart of the first embodiment of the Bluetooth positioning test method provided by this application.

[0026] The Bluetooth positioning test method provided in the embodiment of the present application can be applied to AR application scenarios, such as AR games, AR navigation, AR guided tours, etc. It can also be applied to any scenario using Bluetooth devices or involving Bluetooth technology for positioning, without specific limitation here.

[0027] like Figure 1 As shown, the Bluetooth positioning test method of the embodiment of the present application includes:

[0028] Step 11: Capture a number of images of the positioning area where the test target is located, and use the images to reconstruct a first scene model of the positioning area, and obtain a first positioning coordinate of the test target from the first scene model.

[0029] Optionally, the test target may be a specific target in a three-dimensional space scene, and in the several images of the scene collected, the test target corresponds to several points in the image or several areas composed of several points. In a specific three-dimensional space scene, the number of test targets may be one or more. The positioning area may be an area within a facility at any location in a three-dimensional scene in the real world, such as an area in a supermarket, parking lot, shopping mall, airport or other facility. Among them, the device used to collect images may be a camera, a surveillance camera, a robot with a camera, a drone, a mobile phone or other device with a camera function.

[0030] Optionally, the Bluetooth positioning test device obtains several images taken by a camera device of a scene in the area to be positioned, and extracts several feature matching points in pairs of adjacent images in the image set. The Bluetooth positioning test device matches the images according to these feature matching points, takes all the corresponding points after matching as feature matching results, and uses the points obtained from the feature matching results to obtain the projection matrix of the image converted to the area to be positioned, and uses this projection matrix to reconstruct the scene of the positioning area. The Bluetooth positioning test device uses the reconstructed scene model, i.e., the first scene model, to obtain the three-dimensional coordinates of each test point in the test target in the image positioning scene.

[0031] Optionally, the scene model reconstructed by feature matching of several images, i.e., the first scene model, is a high-precision map. A high-precision map is an electronic map with higher precision and more data dimensions. The error of a high-precision map can reach the millimeter level, and the generated scene model is more refined. Therefore, Bluetooth positioning can be compared and calibrated based on the high-precision map.

[0032] Step 12: Obtain Bluetooth data of the positioning area, and based on the Bluetooth data, reconstruct a second scene model of the positioning area, and obtain the second positioning coordinates of the test target from the second scene model.

[0033] Optionally, the principle of Bluetooth positioning is to deploy several Bluetooth base stations in the positioning area. The Bluetooth base stations will continuously send Bluetooth signals. When a device with the function of receiving Bluetooth signals receives the Bluetooth signals sent by the Bluetooth base stations, it obtains the signal strength of the received Bluetooth signals and calculates the distance between the device and the base stations according to the built-in algorithm in the device. Finally, the position of the device is calculated based on the distance. The device with the function of receiving Bluetooth signals can be a mobile phone, a robot with a Bluetooth receiver, and other devices.

[0034] See also Figure 2 , Figure 2 It is a flow chart of Bluetooth device positioning in the Bluetooth positioning test method provided in this application.

[0035] Optionally, in this embodiment, the user may pre-install multiple Bluetooth base stations that send Bluetooth signals at fixed positions within the positioning area, and obtain the coordinates of the locations of the Bluetooth base stations.

[0036] Optionally, the Bluetooth positioning test device can obtain the Bluetooth signal strengths received by the Bluetooth receiving device from different Bluetooth base stations in the test target in the positioning area, and perform three-dimensional reconstruction of the entire positioning area based on the distances between the Bluetooth receiving device and different Bluetooth base stations calculated by different Bluetooth signal strengths. The Bluetooth positioning test device obtains the three-dimensional coordinates of each test point in the test target in the Bluetooth positioning scene based on the scene model obtained by the three-dimensional reconstruction, i.e., the second scene model, as the second positioning coordinates of the test target.

[0037] Step 13: Obtain first difference information between the first positioning coordinates and the second positioning coordinates, and obtain the positioning accuracy of the Bluetooth device based on the difference information, and use the positioning accuracy to output a positioning test result of the Bluetooth device.

[0038] Optionally, the Bluetooth positioning test device transforms the first positioning coordinate from the camera coordinate system to the preset coordinate system to generate the third positioning coordinate, then transforms the second positioning coordinate from the Bluetooth coordinate system to the preset coordinate system to generate the fourth positioning coordinate, and finally calculates the first difference information between the third positioning coordinate and the fourth positioning coordinate. In this embodiment, the Bluetooth positioning test device transforms the three-dimensional coordinates of the test point in the image positioning scene obtained in step 11 into real-world coordinates, and then transforms the three-dimensional coordinates of the corresponding test point in the Bluetooth positioning scene obtained in step 12 into real-world coordinates. The Bluetooth positioning test device puts the corresponding test points in the two positioning scenes into the same real-world coordinate system to facilitate comparison of the positioning difference between the two, and uses this positioning difference to assess the positioning accuracy of the Bluetooth device. The reconstructed image positioning scene has a more accurate accuracy, and is used as a standard scene to calculate the difference between the Bluetooth positioning scene and the standard scene, which is used to assess the positioning accuracy of the Bluetooth device.

[0039] Optionally, the Bluetooth positioning test device obtains the absolute distance between the first positioning coordinate and the second positioning coordinate based on the first difference information, and evaluates the positioning accuracy of the Bluetooth device according to the absolute distance. The Bluetooth positioning test device can determine the positioning accuracy of the Bluetooth device according to the distance range of the absolute distance by presetting multiple positioning accuracy evaluation criteria, each evaluation criterion corresponding to a different distance range. For example, an absolute distance less than 0.5m is set as excellent, an absolute distance between 0.5m and 1m is set as fair, and an absolute distance greater than 1m is set as poor, in order to evaluate the positioning accuracy of the Bluetooth device. The evaluation range of the absolute distance can be set to different ranges according to user needs, and is not limited here.

[0040] In some optional implementations of this embodiment, the positioning test results of the Bluetooth device may also include the time consumption index and positioning success rate of the Bluetooth device. Among them, the time consumption index of the Bluetooth device can be obtained by the Bluetooth positioning test device to obtain the time consumed by the Bluetooth device to obtain the second positioning coordinates of the test target, and by presetting the evaluation standard of the range of the time consumption index, confirming which evaluation standard the time consumption is within, so as to determine the time consumption index of the Bluetooth device. For example, the time consumed less than 200ms can be set as excellent, the time consumed within 200ms to 1s can be set as general, and the time consumed greater than 1s can be set as poor, so as to evaluate the time consumption index of the Bluetooth device. The evaluation standard of the time consumed can be set to different ranges according to user needs, which is not limited here. The positioning success rate of the Bluetooth device can be determined based on the ratio of the number of successful test targets to the total number of multiple test targets according to the positioning accuracy of multiple test targets obtained by the Bluetooth positioning test device, and the test targets with positioning accuracy above the preset positioning accuracy among the multiple test targets are taken as successful test targets. For example, a positioning success rate greater than 80% can be set as excellent, a positioning success rate within the range of 65% to 80% can be set as fair, and a positioning success rate less than 65% can be set as poor, so as to evaluate the positioning success rate of the Bluetooth device. The evaluation criteria for the positioning success rate can be set to different ranges according to user needs, and are not limited here.

[0041] In this embodiment, the user can use the Bluetooth positioning test device to debug the positioning algorithm parameters of the Bluetooth device based on indicators such as the positioning accuracy, time consumption index, and positioning success rate of the Bluetooth device to obtain a Bluetooth positioning algorithm with more accurate positioning results.

[0042] See also Figure 3 , Figure 3 This is a flow chart of the second embodiment of the Bluetooth positioning test method provided in this application.

[0043] Step 31: Calibrate the first scene model and the second scene model based on at least one test target and first difference information between the first positioning coordinates and the second positioning coordinates of each test target.

[0044] Optionally, the Bluetooth positioning test device obtains the reconstructed graphic positioning scene and the Bluetooth positioning scene, calibrates the scene models of the two based on the coordinates of several points of each test target in one or more test targets in the scene, projects the two scene models into the same spatial coordinate system, and synchronously calibrates the first difference information between the first positioning coordinates and the second positioning coordinates of the test target obtained in the aforementioned step to the corresponding test targets in the first scene model and the second scene model. In this embodiment, the calibration can be achieved by respectively extracting the coordinates of several corresponding points in the two scene models, interpolating a series of coordinates to obtain the posture error between the two scenes, and projecting the two scene models into the same spatial coordinate system based on the posture error.

[0045] Step 32: Visually output the calibrated first scene model and the second scene model.

[0046] Optionally, the Bluetooth positioning test device can use CAD to print out a visualization model of two scene models placed in the same spatial coordinate system, wherein the two scene models and the test targets therein are presented, and the first difference information corresponding to the test targets is also presented, so that the user can intuitively feel the difference between Bluetooth positioning and image positioning more directly and clearly.

[0047] Different from the prior art, the Bluetooth positioning test method provided by the present invention is applied to a Bluetooth positioning test device, which collects several images of the positioning area where the test target is located, and uses the several images to reconstruct the first scene model of the positioning area, and obtains the first positioning coordinates of the test target from the first scene model; obtains Bluetooth data of the positioning area, and based on the Bluetooth data, reconstructs the second scene model of the positioning area, and obtains the second positioning coordinates of the test target from the second scene model; obtains first difference information between the first positioning coordinates and the second positioning coordinates, and obtains the positioning accuracy of the Bluetooth device based on the difference information, and outputs the positioning test result of the Bluetooth device using the positioning accuracy. In the above manner, compared with the conventional Bluetooth positioning test method, the method adopted in the present application, which uses the Bluetooth positioning test device to collect several images of the positioning area where the test target is located and uses the images to reconstruct the scene model of the positioning area, can compare the coordinates obtained by Bluetooth positioning with the coordinates obtained in the scene reconstructed by the high-precision map, so as to quantify the precision and accuracy of Bluetooth positioning, and avoid the problem of inaccurate and objective evaluation due to artificial evaluation of the results of Bluetooth positioning. This Bluetooth positioning test method can use high-precision maps to accurately and objectively verify the precision and accuracy of the Bluetooth positioning algorithm, and can use this test result to debug the Bluetooth device to improve the positioning accuracy of the Bluetooth device.

[0048] The method of the above embodiment can be implemented using a Bluetooth positioning test device. Figure 4 Describe, Figure 4 It is a structural schematic diagram of the first embodiment of the Bluetooth positioning test device provided in this application.

[0049] like Figure 4 As shown, the Bluetooth positioning test device 40 of the embodiment of the present application includes an image coordinate acquisition module 41, a Bluetooth coordinate acquisition module 42, and a Bluetooth positioning test module 43.

[0050] The image coordinate acquisition module 41 is used to collect a number of images of the positioning area where the test target is located, and use the several images to reconstruct a first scene model of the positioning area, and obtain the first positioning coordinates of the test target from the first scene model.

[0051] The Bluetooth coordinate acquisition module 42 is used to acquire Bluetooth data of the positioning area, and based on the Bluetooth data, reconstruct a second scene model of the positioning area, and acquire the second positioning coordinates of the test target from the second scene model.

[0052] The positioning test module 43 is used to obtain first difference information between the first positioning coordinates and the second positioning coordinates, obtain the positioning accuracy of the Bluetooth device based on the difference information, and output the positioning test result of the Bluetooth device using the positioning accuracy.

[0053] The method of the above embodiment can be implemented using a Bluetooth positioning test device. Figure 5 , Figure 5 1 is a schematic diagram of the structure of the second embodiment of the Bluetooth positioning test device provided by the present application. The Bluetooth positioning test device 50 includes a memory 51 and a processor 52. The memory 51 is used to store program data, and the processor 52 is used to execute the program data to implement the following method:

[0054] Collect a number of images of the positioning area where the test target is located, and use the multiple images to reconstruct a first scene model of the positioning area, and obtain the first positioning coordinates of the test target from the first scene model; obtain Bluetooth data of the positioning area, and based on the Bluetooth data, reconstruct a second scene model of the positioning area, and obtain the second positioning coordinates of the test target from the second scene model; obtain first difference information between the first positioning coordinates and the second positioning coordinates, and obtain the positioning accuracy of the Bluetooth device based on the difference information, and use the positioning accuracy to output the positioning test result of the Bluetooth device.

[0055] See also Figure 6 , Figure 6 6 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 60 stores program data 61. When the program data 61 is executed by a processor, it is used to implement the following method:

[0056] Collect a number of images of the positioning area where the test target is located, and use the multiple images to reconstruct a first scene model of the positioning area, and obtain the first positioning coordinates of the test target from the first scene model; obtain Bluetooth data of the positioning area, and based on the Bluetooth data, reconstruct a second scene model of the positioning area, and obtain the second positioning coordinates of the test target from the second scene model; obtain first difference information between the first positioning coordinates and the second positioning coordinates, and obtain the positioning accuracy of the Bluetooth device based on the difference information, and use the positioning accuracy to output the positioning test result of the Bluetooth device.

[0057] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0058] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A Bluetooth positioning test method, characterized in that: The Bluetooth positioning test method comprises: Collecting a plurality of images of a positioning area where a test target is located, and reconstructing a first scene model of the positioning area using the plurality of images, and acquiring a first positioning coordinate of the test target from the first scene model; Acquire Bluetooth data of the positioning area, and based on the Bluetooth data, reconstruct a second scene model of the positioning area, and acquire a second positioning coordinate of the test target from the second scene model; First difference information between the first positioning coordinates and the second positioning coordinates is obtained, and the positioning accuracy of the Bluetooth device is obtained based on the difference information, and the positioning accuracy is used to output a positioning test result of the Bluetooth device.

2. The Bluetooth positioning test method according to claim 1, characterized in that: The obtaining first difference information between the first positioning coordinates and the second positioning coordinates includes: Transforming the first positioning coordinates from the camera coordinate system to a preset coordinate system to generate third positioning coordinates; Transforming the second positioning coordinates from the Bluetooth coordinate system to the preset coordinate system to generate fourth positioning coordinates; Calculate first difference information between the third positioning coordinates and the fourth positioning coordinates.

3. The Bluetooth positioning test method according to claim 2, characterized in that: After obtaining the first difference information between the first positioning coordinates and the second positioning coordinates, the Bluetooth positioning test method further includes: Calibrate the first scene model and the second scene model based on at least one test target and the first difference information between the first positioning coordinates and the second positioning coordinates of each test target; The calibrated first scene model and the second scene model are visually output.

4. The Bluetooth positioning test method according to claim 1, characterized in that: The obtaining first difference information between the first positioning coordinates and the second positioning coordinates, and obtaining the positioning accuracy of the Bluetooth device based on the difference information, includes: Acquire first difference information between the first positioning coordinates and the second positioning coordinates; Based on the first difference information, acquiring an absolute distance between the first positioning coordinates and the second positioning coordinates; The positioning accuracy of the Bluetooth device is evaluated according to the absolute distance.

5. The Bluetooth positioning test method according to claim 4, characterized in that: The evaluating the positioning accuracy of the Bluetooth device according to the absolute distance includes: Preset multiple evaluation criteria for positioning accuracy, each evaluation criterion corresponds to a distance range; The positioning accuracy of the Bluetooth device is determined according to the distance range of the absolute distance.

6. The Bluetooth positioning test method according to claim 5, characterized in that: After determining the positioning accuracy of the Bluetooth device according to the distance range of the absolute distance, the Bluetooth positioning test method further includes: Obtain positioning accuracy for multiple test targets; The test targets whose positioning accuracy among the multiple test targets is higher than the preset positioning accuracy are regarded as successful test targets; The positioning success rate of the Bluetooth device is determined based on the ratio of the number of the successfully tested targets to the total number of the multiple test targets.

7. The Bluetooth positioning test method according to claim 6, characterized in that: After acquiring the second positioning coordinates of the test target from the second scene model, the Bluetooth positioning test method further includes: Obtaining the time taken to determine the second positioning coordinates of the test target; Based on the time consumption, a time consumption index of the Bluetooth device is determined.

8. The Bluetooth positioning test method according to claim 7, characterized in that: After determining the positioning success rate of the Bluetooth device, the Bluetooth positioning test method further includes: Based on the positioning success rate, time consumption index and positioning accuracy of the Bluetooth device, the positioning algorithm parameters of the Bluetooth device are debugged.

9. A Bluetooth positioning test device, characterized in that: The Bluetooth positioning test device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the Bluetooth positioning test method as described in any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the Bluetooth positioning test method according to any one of claims 1 to 8.

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