Positioning method and system

Abstract

The invention discloses a positioning method and system, and the method comprises the steps: receiving the signal intensity values of a mobile terminal device transmitted by a plurality of positioning devices, and enabling the signal intensity values to represent the signal intensity of the mobile terminal device monitored by the plurality of positioning devices; determining a signal strength indication data frame according to the plurality of signal strength values and the receiving time; matching a positioning reference point corresponding to the signal strength indication data frame according to feature data of a positioning polar coordinate point in a signal strength indication database; and calculating the coordinates of the mobile terminal device according to the positioning reference point. By collecting the signal intensity data of the mobile terminal device received by the plurality of positioning devices and matching the signal intensity indication data frame with the positioning reference point, the real-time accurate positioning of the mobile terminal device is realized. And technical support is provided for applications such as indoor navigation, mobile terminal equipment tracking and the like.

Description

Technical Field

[0001] The present invention relates to the field of communications, and in particular to a positioning method and system. Background Art

[0002] Target positioning technology can be used for applications such as personnel and material management or positioning navigation. Currently, the technologies relied on by common positioning technologies mainly include WiFi, Bluetooth, ultra-wideband, infrared and ultrasonic waves. Among them, Bluetooth technology is an open global specification for wireless data and voice communications. It is a special short-range wireless technology connection based on low-cost short-range wireless connection to establish a communication environment for fixed and mobile devices. Bluetooth-based positioning methods are widely used due to their low cost and easy integration.

[0003] Among the existing positioning technologies, the advantage of Bluetooth multi-lateration positioning technology is that it has relatively low requirements for data storage. However, its accuracy may be affected by the measurement distance and signal attenuation, making it difficult to achieve highly precise positioning. Summary of the invention

[0004] The main purpose of the present invention is to provide a positioning method and system, which realizes real-time and accurate positioning of mobile devices by collecting mobile device signal strength data received by multiple positioning devices and quickly matching signal strength indication data frames with positioning reference points. It provides technical support for indoor navigation, mobile device tracking and other applications.

[0005] In order to achieve the above objectives, the present application provides the following technical solutions:

[0006] According to a first aspect of an embodiment of the present application, a positioning method is provided, the positioning method comprising:

[0007] Receiving signal strength values ​​sent by a plurality of positioning devices, wherein the signal strength values ​​represent signal strengths of the mobile terminal device monitored by the plurality of positioning devices;

[0008] determining a signal strength indication data frame according to a plurality of signal strength values ​​and a receiving time;

[0009] Matching the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database;

[0010] The polar coordinates of the mobile device are calculated based on the positioning reference point.

[0011] Optionally, matching the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database includes:

[0012] Calculating sample distances between feature data of a first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame respectively, and performing weighted calculation to obtain the first number of fingerprint Euclidean distances;

[0013] The first number of fingerprint Euclidean distances are sorted from small to large, and the first second number of fingerprint Euclidean distances and corresponding polar coordinate points are retained as positioning reference points corresponding to the signal strength indication data frame.

[0014] Optionally, respectively calculating the sample distances between the feature data of the first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame, and performing weighted calculation to obtain the first number of fingerprint Euclidean distances, comprises:

[0015] For each positioning polar coordinate point of the first number of positioning polar coordinate points, calculating the sample distance between a third number of feature data of the positioning polar coordinate point and the signal strength indication data frame to obtain the third number of sample distances;

[0016] A weighted calculation is performed on the third number of Euclidean distances to obtain the fingerprint Euclidean distance corresponding to the positioning polar coordinate point.

[0017] Optionally, after retaining the first second number of fingerprint Euclidean distances and corresponding polar coordinate points, the method further comprises:

[0018] Using the first set polar angle straight line as a dividing line, the polar coordinate plane where the positioning polar coordinate point is located is divided into a first area and a second area, and using the second set polar angle straight line as a dividing line, the polar coordinate plane is divided into a third area and a fourth area;

[0019] Counting the number of positioning reference points falling into the first area, the second area, the third area, and the fourth area respectively;

[0020] If there is only one maximum value among the numbers of positioning reference points in the first area, the second area, the third area and the fourth area, determining the positioning reference point in the area corresponding to the maximum value as the positioning reference point corresponding to the signal strength indication data frame;

[0021] If there are multiple identical maximum values ​​among the number of positioning reference points in the first area, the second area, the third area and the fourth area, the sum of the fingerprint Euclidean distances in each area is calculated, and the positioning reference point of the area with the smallest sum of the fingerprint Euclidean distances is determined as the positioning reference point corresponding to the signal strength indication data frame.

[0022] Optionally, calculating the polar coordinates of the mobile terminal device according to the positioning reference point includes:

[0023] For each positioning reference point, calculating a weighting coefficient of the positioning reference point according to the fingerprint Euclidean distance of the positioning reference point;

[0024] Calculating the target polar diameter according to the polar diameter of the positioning reference point and the weighting coefficient;

[0025] Calculating a target polar angle according to the polar angle of the positioning reference point and the weighting coefficient;

[0026] Calculating the target confidence according to the fingerprint Euclidean distance of the positioning reference point;

[0027] The target polar diameter, the target polar angle and the target confidence are determined as polar coordinates of the mobile terminal device.

[0028] Optionally, the method further comprises: determining the target polar diameter, the target polar angle and the target confidence as polar coordinates of the mobile terminal device:

[0029] If there is a minimum value of the sum of the fingerprint Euclidean distances, the target polar diameter and the target polar angle corresponding to the minimum value of the sum of the fingerprint Euclidean distances are determined as the polar coordinates of the mobile terminal device;

[0030] If there are multiple fingerprint Euclidean distance sums with the same minimum value, calculate the Euclidean distance between the polar coordinates of the minimum value of the sum of the multiple fingerprint Euclidean distances and the polar coordinates last recorded by the mobile device, and determine the polar coordinates corresponding to the minimum value of the Euclidean distance as the polar coordinates of the mobile device.

[0031] Optionally, the origin of the polar coordinate plane where the positioning polar coordinate point is located is set by the user, the polar diameter is the distance from the origin to the positioning device, and the polar angle is the angle measured counterclockwise starting from the 0 degree angle direction of the polar diameter.

[0032] Optionally, determining the signal strength indication data frame according to a plurality of signal strength values ​​and receiving times includes:

[0033] If there are multiple signal strength values, the multiple signal strength values ​​are processed based on the filtering algorithm to obtain a signal strength processing value; if there is one signal strength value, the signal strength value is set as the signal strength processing value;

[0034] The signal strength processing value is timestamped with the receiving time to generate a signal strength indication data frame; the receiving time is the time value of receiving the signal strength values ​​of the mobile terminal devices sent by several positioning devices.

[0035] Optionally, the signal strength indication database includes a first number of positioning polar coordinate points, each positioning polar coordinate point includes a third number of feature data, each feature data includes a fourth number of samples, and the fourth number of samples are generated based on a fourth number of positioning devices.

[0036] According to a second aspect of an embodiment of the present application, a positioning system is provided, the system comprising:

[0037] A signal receiving module, used to receive signal strength values ​​of mobile devices sent by several positioning devices, wherein the signal strength values ​​represent the signal strengths of the mobile devices monitored by the several positioning devices;

[0038] A data frame determination module, used to determine a signal strength indication data frame according to the signal strength value and the receiving time;

[0039] A positioning reference point matching module, used to match the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database;

[0040] A positioning coordinate module is used to calculate the coordinates of the mobile terminal device according to the positioning reference point.

[0041] In summary, the embodiments of the present application provide a positioning method and system, which receives the signal strength value of a mobile terminal device sent by several positioning devices, wherein the signal strength value represents the signal strength of the mobile terminal device monitored by the several positioning devices; determines a signal strength indication data frame according to the several signal strength values ​​and the receiving time; matches the positioning reference point corresponding to the signal strength indication data frame according to the characteristic data of the positioning polar coordinate point in the signal strength indication database; and calculates the coordinates of the mobile terminal device according to the positioning reference point. By collecting the signal strength data of the mobile terminal device received by multiple positioning devices and quickly matching the signal strength indication data frame with the positioning reference point, real-time and accurate positioning of the mobile terminal device is achieved. It provides technical support for applications such as indoor navigation and mobile terminal device tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0043] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0044] Figure 1 A flow chart of a positioning method provided in an embodiment of the present application;

[0045] Figure 2 A block diagram of a positioning system provided in an embodiment of the present application;

[0046] Figure 3 A structural diagram of an electronic device provided in an embodiment of the present application is shown;

[0047] Figure 4 A diagram showing a computer-readable storage medium provided by an embodiment of the present application.

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] 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 only 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.

[0050] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] Figure 1 A positioning method is shown, the positioning method comprising:

[0055] Step 101: receiving signal strength values ​​of mobile devices sent by a plurality of positioning devices, wherein the signal strength values ​​represent signal strengths of the mobile devices monitored by the plurality of positioning devices;

[0056] Step 102: determining a signal strength indication data frame according to a plurality of signal strength values ​​and a receiving time;

[0057] Step 103: matching the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database;

[0058] Step 104: Calculate the coordinates of the mobile device according to the positioning reference point.

[0059] In a possible implementation, the signal strength indication database includes a first number of positioning polar coordinate points, each positioning polar coordinate point includes a third number of feature data, each feature data includes a fourth number of samples, and the fourth number of samples are generated based on a fourth number of positioning devices.

[0060] In a possible implementation, in step 102, determining a signal strength indication data frame according to a plurality of signal strength values ​​and receiving times includes:

[0061] If there are multiple signal strength values, the multiple signal strength values ​​are processed based on the filtering algorithm to obtain a signal strength processing value; if the signal strength value is one, the signal strength value is set as the signal strength processing value; the signal strength processing value is timestamped with the receiving time to generate a signal strength indication data frame; the receiving time is the time value of receiving the signal strength values ​​of the mobile device sent by several positioning devices.

[0062] In a possible implementation manner, in step 103, matching the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database includes:

[0063] Calculate the sample distances between the feature data of the first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame respectively, and obtain the first number of fingerprint Euclidean distances by weighted calculation; sort the first number of fingerprint Euclidean distances from small to large, and retain the first second number of fingerprint Euclidean distances and the corresponding polar coordinate points as the positioning reference points corresponding to the signal strength indication data frame.

[0064] In a possible implementation manner, respectively calculating the sample distances between the feature data of the first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame, and performing weighted calculation to obtain the first number of fingerprint Euclidean distances, includes:

[0065] For each of the first number of positioning polar coordinate points, calculate the sample distance between the third number of feature data of the positioning polar coordinate point and the signal strength indication data frame to obtain the third number of sample distances; perform weighted calculation on the third number of Euclidean distances to obtain the fingerprint Euclidean distance corresponding to the positioning polar coordinate point.

[0066] In a possible implementation, after retaining the first second number of fingerprint Euclidean distances and corresponding polar coordinate points, the method further includes:

[0067] Taking the first set polar angle straight line as the dividing line, the polar coordinate plane where the positioning polar coordinate point is located is divided into a first area and a second area, and taking the second set polar angle straight line as the dividing line, the polar coordinate plane is divided into a third area and a fourth area; and respectively counting the number of positioning reference points falling into the first area, the second area, the third area, and the fourth area;

[0068] If there is only one maximum value among the numbers of positioning reference points in the first area, the second area, the third area and the fourth area, determining the positioning reference point in the area corresponding to the maximum value as the positioning reference point corresponding to the signal strength indication data frame;

[0069] If there are multiple identical maximum values ​​among the number of positioning reference points in the first area, the second area, the third area and the fourth area, the sum of the fingerprint Euclidean distances in each area is calculated, and the positioning reference point of the area with the smallest sum of the fingerprint Euclidean distances is determined as the positioning reference point corresponding to the signal strength indication data frame.

[0070] In a possible implementation, in step 104, calculating the coordinates of the mobile terminal device according to the positioning reference point includes:

[0071] For each positioning reference point, a weighting coefficient of the positioning reference point is calculated according to the fingerprint Euclidean distance of the positioning reference point; a target polar diameter is calculated according to the polar diameter of the positioning reference point and the weighting coefficient; a target polar angle is calculated according to the polar angle of the positioning reference point and the weighting coefficient; a target confidence is calculated according to the fingerprint Euclidean distance of the positioning reference point; and the target polar diameter, the target polar angle and the target confidence are determined as the polar coordinates of the mobile terminal device.

[0072] In a possible implementation, the origin of the polar coordinate plane where the positioning and collecting polar coordinate points are located is set by the user, the polar diameter is the distance from the origin to the positioning device, and the polar angle is the angle measured counterclockwise starting from the 0 degree angle direction of the polar diameter.

[0073] In a possible implementation, the determining the target polar diameter, the target polar angle, and the target confidence as polar coordinates of the mobile terminal device, the method further includes:

[0074] If there is a minimum value of the sum of the Euclidean distances of fingerprints, the target polar radius and target polar angle corresponding to the minimum value of the sum of the Euclidean distances of fingerprints are determined as the polar coordinates of the mobile device; if there are multiple sums of the Euclidean distances of fingerprints with the same minimum value, the Euclidean distance between the polar coordinates of the minimum value of the sum of the Euclidean distances of multiple fingerprints and the polar coordinates recorded last time by the mobile device is calculated, and the polar coordinates corresponding to the minimum value of the Euclidean distance are determined as the polar coordinates of the mobile device.

[0075] By collecting the signal strength data of mobile devices received by multiple positioning devices and quickly matching the signal strength indication data frame with the positioning reference point, the real-time and accurate positioning of mobile devices is achieved, providing technical support for indoor navigation, mobile device tracking and other applications.

[0076] The method provided in the embodiments of the present application is explained in detail below.

[0077] With the rapid development of mobile terminals, automobiles, and the Internet of Things, vehicle unlocking has gradually changed from the traditional mechanical key unlocking method to the digital car key unlocking method. The car can be unlocked and started by the digital car key without using a mechanical key. The digital car key can be held by the user or placed in the user's backpack. When the digital car key enters the appropriate range to unlock the car door, the digital car key will be "woken up"; after entering the car, the system will detect the digital car key to activate the ignition start button.

[0078] In the existing technology, the positioning of digital car keys is achieved based on Bluetooth fingerprint positioning or Bluetooth multilateral ranging positioning. Both methods have their own advantages and disadvantages. The multilateral positioning method has low requirements for data storage scale, but it is difficult to accurately confirm due to the relationship between distance and signal attenuation; while the fingerprint method requires a certain amount of data (fingerprint library) to support position solution, but does not need to consider the factors of signal attenuation and distance.

[0079] For the digital car key positioning system, all positioning devices are installed on the vehicle body to ensure that they can cover the area around the vehicle. Near the center of the positioning area, the center of the vehicle is used as the origin to locate the surrounding areas in a radial manner to establish a polar coordinate system. The polar diameter (r) represents the distance from the center of the vehicle to the positioning point, and the polar angle (θ) represents the angle from the reference direction (such as the front of the vehicle) to the positioning point. In the polar coordinate system, the polar coordinate fingerprint library collects and stores the signal characteristics (such as signal strength, signal quality, etc.) of different positioning reference points for each positioning device. These fingerprints can be used for subsequent positioning and identification.

[0080] When the digital car key enters the positioning area around the vehicle, the system detects its signal characteristics. By comparing these characteristics with the data in the fingerprint library, the polar diameter and polar angle of the digital car key are calculated. The present invention relates to a method for calculating the polar angle under the condition of establishing a fingerprint library in polar coordinates.

[0081] The use of polar coordinates can avoid some positioning errors in certain scenarios compared to the plane rectangular coordinate system, but it also brings new challenges, such as the accuracy of polar angle calculation. For scenarios where all positioning devices are installed on the vehicle body, the positioning device is near the center of the positioning area, and the positioning is performed in a radial area around the vehicle, fingerprint matching is usually used as a method for position solution. The fingerprint matching algorithm requires the establishment of a fingerprint library based on coordinate points in advance. The fingerprint library collects and stores the signal characteristics (such as signal strength, signal quality, etc.) of different positioning reference points for each positioning device, and these fingerprints can be used for subsequent positioning and identification. The coordinate point calibration coordinate system can use either a plane rectangular coordinate system or a polar coordinate system.

[0082] If the coordinate points are calibrated using a plane rectangular coordinate system, a natural problem will arise for the fingerprint library established when the positioning device is near the center of the positioning area. That is, if the reference points selected far away from the origin during the fingerprint matching process are distributed in a roughly certain way, the positioning result will fall near the origin with a certain probability, which may cause the positioning result to appear inside the car, resulting in a serious positioning solution error where the outside of the car is miscalculated into the car.

[0083] If polar coordinates are used, since the polar diameter (the distance from the origin to the point) is roughly the same, the distance between the positioning solution result and the origin will not be less than the smallest polar diameter, so there will be no error in misjudging the signal outside the car as the signal inside the car. However, there may be a large deviation in the calculation of the polar angle (the angle from the reference direction to the point), which requires finding a suitable method to solve.

[0084] In polar coordinates, the location of a point is determined by two numbers, the polar diameter and the polar angle, rather than two numbers (x and y) in a rectangular coordinate system. The polar diameter (r) represents the distance from the origin (usually called the pole in polar coordinates) to the point. The polar diameter can be a positive number or zero (when the point is at the pole). The polar angle (θ) represents the angle between a line segment from a reference direction (usually called the polar axis) and the polar axis measured counterclockwise to the point. The units of the polar angle are usually degrees or radians. In polar coordinates, a point can be represented as (r,θ), where: r is the polar diameter, which represents the distance from the pole to the point. θ is the polar angle, which represents the angle from the polar axis to the point.

[0085] The embodiment of the present application aims to solve the problems that may arise in polar angle calculation in positioning and solving based on fingerprint matching under the condition of a polar coordinate fingerprint library. The digital car key positioning system provided in the embodiment of the present application is composed of a positioning device located inside the car (main anchor point), several positioning devices located around the car body (slave anchor points), a positioning and solving module, and cables connecting the above. The positioning device located inside the car has a Bluetooth communication function, that is, sending Bluetooth signals to mobile devices and receiving Bluetooth signals sent by mobile devices. The positioning device located around the car body only has a Bluetooth signal monitoring function and receives Bluetooth signals.

[0086] In the positioning system application, the positioning solution module performs positioning solution on the mobile device based on the Bluetooth signal strength indicator RSSI data of the mobile device received by each positioning device, combined with the fingerprint library collected in the early stage.

[0087] First, the storage method of the fingerprint library in the digital car key positioning system.

[0088] 1. Establish polar coordinate fingerprint library:

[0089] The fingerprint database is established in polar coordinates, with a certain point inside the car (such as the center of the circumscribed rectangle of the car body) as the origin. The polar diameter (r) is the distance from the origin to the points around the car body. The polar angle (θ) is the angle measured counterclockwise from the front of the car (the polar diameter 0 degree angle direction).

[0090] According to the polar angle and polar radius two-dimensional coordinate points, fingerprints are collected, processed and managed around the vehicle body. There are M fingerprint collection coordinate points in total. These points are distributed around the vehicle body and are used to collect signal features. Each coordinate point has a set of fingerprint feature records, which contains Q features. Each feature is obtained through some statistical method, such as median, mean, mode, etc.

[0091] There are as many features as there are statistical methods to obtain feature values. In the fingerprint record of each coordinate point, multiple features will be generated according to different statistical methods. Each feature contains K data, where K is the number of vehicle-mounted Bluetooth positioning devices in the positioning system (including 1 main anchor point and K-1 slave anchor points). Each sample is generated based on the signal strength or other features received by multiple positioning devices.

[0092] These fingerprint samples are stored, processed and managed for use in positioning. Through this storage method, the system can accurately position and solve the problem based on the signal characteristics received by the vehicle's Bluetooth positioning device and the data in the fingerprint library, which helps to improve the accuracy and reliability of digital car key positioning.

[0093] The second aspect is the positioning processing method.

[0094] Part 1: RSSI data collection.

[0095] The vehicle positioning solution module receives or monitors the Bluetooth signal of the mobile device through the vehicle positioning device to obtain the RSSI value (signal strength indication) and combines it into an RSSI data frame.

[0096] Step 1: The mobile device broadcasts Bluetooth signals at a certain frequency or establishes a Bluetooth connection with the positioning device (primary anchor point).

[0097] Step 2: K vehicle-mounted positioning devices receive or monitor the Bluetooth broadcast or data packet of the mobile device.

[0098] Step 3: Each vehicle-mounted positioning device calculates the RSSI value of the received Bluetooth signal and sends the calculated RSSI value to the vehicle-mounted positioning solution module.

[0099] Step 4: The vehicle positioning solution module collects the RSSI values ​​received by each vehicle positioning device, and counts the Bluetooth RSSI values ​​of each positioning device within the first time period.

[0100] Step 4-1: If a positioning device receives multiple RSSI values, use the filtering algorithm to process them into a processed RSSI value. If the RSSI value of a positioning device is not received, the RSSI value of this positioning device is set to the value corresponding to the farthest distance.

[0101] Step 4-2: The processed RSSI values ​​of the K positioning devices are combined into a data frame of a set format (rssi t1,1 , rssi t1,2 , ..., rssi t1,k ).

[0102] Step 4-3: Put a timestamp of the first time period on the data frame.

[0103] Step 5: The mobile device repeats the operation of the first time period in the second time period, and continues to broadcast or send Bluetooth signals.

[0104] Step 6: The vehicle-mounted positioning solution module continues to collect and process RSSI values ​​until the mobile device receives an instruction to end the positioning operation.

[0105] The vehicle positioning solution module completes the collection and processing of a set of Bluetooth RSSI values ​​from the positioning device at time t1 and forms a data frame (rssi t1,1 , rssi t1,2 , ..., rssi t1,k ). Through the above method, the location changes of the mobile device can be updated and accurately reflected in real time, providing the necessary data input for positioning solution.

[0106] Part 2: Using the RSSI fingerprint library data collected in the early stage, according to the RSSI data frame (rssi t1,1 , rssi t1,2 , ..., rssi t1,k ) is matched with the fingerprint data in the RSSI fingerprint library to determine the position of the mobile terminal in the aforementioned coordinate system.

[0107] Step 1: Calculate the fingerprint Euclidean distance of each fingerprint collection coordinate point for M fingerprint collection coordinate points.

[0108] Step 1-1: For each of the M fingerprint collection coordinate points, the Q features at each coordinate point are calculated with respect to the data frame. t1,m,q , and get Q sample distances.

[0109] For the data frame at time t1 (rssi t1,1 , rssi t1,2 , ..., rssi t1,k) performs Euclidean distance calculation with the Q fingerprint samples at each coordinate point to obtain a set of sample distances, each set of sample distances has Q sample distance results.

[0110] Suppose the characteristic of the qth sample of the fingerprint at the mth coordinate point is (rssi m,q,1 , rssi m,q,2 , ..., rssi m,q,k ), then the Bluetooth RSSI value received at time t1 (rssi t1,1 , rssi t1,2 , ..., rssi t1,k ) to the qth fingerprint sample at the mth coordinate point can be calculated according to the following formula:

[0111]

[0112] Step 1-2: Calculate the fingerprint Euclidean distance by weighting the Euclidean distances of the Q samples.

[0113] The sample Euclidean distance of Q samples is weighted and calculated to obtain the fingerprint Euclidean distance. The fingerprint Euclidean distance is calculated as follows:

[0114]

[0115] ε is a smoothing factor. This is to avoid division by zero when calculating weights, and to prevent the weights from being too large, causing the model to be too dependent on a single sample.

[0116] Step 2: Sort the M fingerprint Euclidean distances from small to large, and retain the first N (N is an odd number greater than 1) fingerprint Euclidean distances and the corresponding coordinate points as reference points.

[0117] Step 3: Preprocess the aforementioned N reference points to remove reference points with large angle deviations and reduce the polar angle calculation error.

[0118] Step 3-1: Regional division and statistics:

[0119] The plane is divided into two halves using the straight line with polar angles of 0 and 180 as the dividing line. The number of reference points falling in the two halves is counted separately: the reference points on the boundary line with polar angles equal to 0 or 180 can be counted repeatedly in the two halves; the number of reference points with polar angles greater than or equal to 0 and less than or equal to 180 is recorded as N. 上 , the number of reference points with polar angles greater than or equal to 180 degrees and less than or equal to 360 degrees is recorded as N 下 .

[0120] Step 3-2: Regional division and statistics:

[0121] The plane is divided into two halves using the straight line with polar angles of 90 degrees and 270 degrees (-90 degrees) as the dividing line; the number of reference points falling in the two halves is counted separately: the reference points on the boundary line with polar angles equal to 90 degrees or 270 degrees (-90 degrees) can be counted repeatedly in the statistics of the two halves; the number of reference points with polar angles greater than or equal to 90 degrees and less than or equal to 270 degrees is recorded as N 左 The number of reference points with polar angles greater than or equal to -90 degrees and less than or equal to 90 degrees is recorded as N 右 .

[0122] Step 3-3: Select the reference point area.

[0123] Compare N 上 、N 下 、N 左 、N 右 Four values; if there is a maximum value, the reference point in the area corresponding to the maximum value is used as the reference point for positioning calculation.

[0124] If N 上 、N 下 、N 左 、N 右 There are multiple identical maximum values ​​in : Calculate the sum of the fingerprint Euclidean distances of the reference points in each area, and select the points in the area with the smallest and unique sum of fingerprint Euclidean distances as the reference points participating in the positioning calculation.

[0125] If the area with the smallest sum of fingerprint Euclidean distances is not unique, each area must use its own reference point as a reference point for positioning calculation to perform positioning calculation.

[0126] Through the above steps, the most suitable reference points can be effectively screened out, thereby improving the accuracy of positioning calculation.

[0127] Step 4: Use the positioning reference point to calculate the positioning result, which includes the polar diameter and polar angle.

[0128] The formula for calculating the polar diameter is as follows:

[0129]

[0130] The polar angle calculation formula is as follows:

[0131]

[0132] Among them, the weight coefficient WK of the mth reference point m The calculation formula is as follows:

[0133]

[0134] D t1,mis the sample Euclidean distance from the Bluetooth RSSI value received at time t1 to the fingerprint sample of the mth reference point.

[0135] The confidence index calculation formula is as follows:

[0136]

[0137] N1 is the number of reference points involved in the calculation.

[0138] Through these steps and formulas, the weights of various reference points are comprehensively considered to calculate the polar coordinate position of the mobile device around the vehicle, and a confidence index is provided to evaluate the reliability of the positioning result.

[0139] Step 5: If there is more than one positioning result at the current moment, process it according to the following rules:

[0140] 1. If there is a unique positioning result before the current moment, then:

[0141] Step 5-1: Calculate the Euclidean distance between all positioning results at the current moment and the positioning results at the previous moment;

[0142] Step 5-2: Select the current positioning result with the smallest Euclidean distance as the valid positioning result output, and use the confidence index of the positioning result with the smallest Euclidean distance as the output confidence index.

[0143] 2. If there is no valid positioning result before the current moment, no valid positioning result is output at the current moment, and the confidence index is set to 0.

[0144] In this way, the system can select the most reliable positioning result based on the closeness to the previous positioning result, thereby improving the accuracy and reliability of positioning. At the same time, the confidence index provides a quantitative assessment of the reliability of the positioning result.

[0145] In summary, the embodiment of the present application provides a positioning method, which receives the signal strength value of a mobile terminal device sent by several positioning devices, wherein the signal strength value represents the signal strength of the mobile terminal device monitored by the several positioning devices; determines a signal strength indication data frame according to the signal strength value and the receiving time; matches the positioning reference point corresponding to the signal strength indication data frame according to the characteristic data of the positioning polar coordinate point in the signal strength indication database; and calculates the coordinates of the mobile terminal device according to the positioning reference point. By collecting the signal strength data of the mobile terminal device received by multiple positioning devices and quickly matching the signal strength indication data frame with the positioning reference point, real-time and accurate positioning of the mobile terminal device is achieved. It provides technical support for applications such as indoor navigation and mobile terminal device tracking.

[0146] Based on the same technical concept, the present application also provides a positioning system, such as Figure 2 As shown, the system comprises:

[0147] The signal receiving module 201 is used to receive the signal strength value of the mobile terminal device sent by several positioning devices, wherein the signal strength value represents the signal strength of the mobile terminal device monitored by the several positioning devices;

[0148] A data frame determining module 202, configured to determine a signal strength indication data frame according to the signal strength value and a receiving time;

[0149] A positioning reference point matching module 203 is used to match the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database;

[0150] Positioning coordinate module 204, used to calculate the coordinates of the mobile terminal device according to the positioning reference point

[0151] The present application also provides an electronic device corresponding to the method provided in the above embodiment. Figure 3 , which shows an electronic device diagram provided by some embodiments of the present application. The electronic device 20 may include: a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected via the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and the processor 200 executes the method provided by any of the aforementioned embodiments of the present application when running the computer program.

[0152] The memory 201 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one physical port (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0153] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs, and the processor 200 executes the programs after receiving execution instructions. The method disclosed in any implementation of the aforementioned embodiment of the present application may be applied to the processor 200, or implemented by the processor 200.

[0154] The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 200. The above processor 200 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the above method in combination with its hardware.

[0155] The electronic device provided in the embodiment of the present application and the method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, operated or implemented by them.

[0156] The present application also provides a computer-readable storage medium corresponding to the method provided in the above embodiment. Figure 4 The computer-readable storage medium shown is a CD 30 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the method provided in any of the aforementioned embodiments is executed.

[0157] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0158] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0159] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0160] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

[0161] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A positioning method, characterized in that: The positioning method comprises: Receiving signal strength values ​​sent by a plurality of positioning devices, wherein the signal strength values ​​represent signal strengths of the mobile terminal device monitored by the plurality of positioning devices; determining a signal strength indication data frame according to a plurality of signal strength values ​​and a receiving time; Matching the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database; The polar coordinates of the mobile device are calculated based on the positioning reference point.

2. The method according to claim 1, characterized in that The matching of the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database includes: Calculating sample distances between feature data of a first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame respectively, and performing weighted calculation to obtain the first number of fingerprint Euclidean distances; The first number of fingerprint Euclidean distances are sorted from small to large, and the first second number of fingerprint Euclidean distances and corresponding polar coordinate points are retained as positioning reference points corresponding to the signal strength indication data frame.

3. The method according to claim 2, characterized in that The respectively calculating the sample distances between the feature data of the first number of positioning polar coordinate points in the signal strength indication database and the signal strength indication data frame, and performing weighted calculation to obtain the first number of fingerprint Euclidean distances, comprises: For each positioning polar coordinate point of the first number of positioning polar coordinate points, calculating the sample distance between a third number of feature data of the positioning polar coordinate point and the signal strength indication data frame to obtain the third number of sample distances; A weighted calculation is performed on the third number of Euclidean distances to obtain the fingerprint Euclidean distance corresponding to the positioning polar coordinate point.

4. The method according to claim 2, characterized in that After retaining the first second number of fingerprint Euclidean distances and corresponding polar coordinate points, the method further includes: Using the first set polar angle straight line as a dividing line, the polar coordinate plane where the positioning polar coordinate point is located is divided into a first area and a second area, and using the second set polar angle straight line as a dividing line, the polar coordinate plane is divided into a third area and a fourth area; Counting the number of positioning reference points falling into the first area, the second area, the third area, and the fourth area respectively; If there is only one maximum value among the numbers of positioning reference points in the first area, the second area, the third area and the fourth area, determining the positioning reference point in the area corresponding to the maximum value as the positioning reference point corresponding to the signal strength indication data frame; If there are multiple identical maximum values ​​among the number of positioning reference points in the first area, the second area, the third area and the fourth area, the sum of the fingerprint Euclidean distances in each area is calculated, and the positioning reference point of the area with the smallest sum of the fingerprint Euclidean distances is determined as the positioning reference point corresponding to the signal strength indication data frame.

5. The method according to any one of claims 1 to 4, characterized in that: The calculating the polar coordinates of the mobile terminal device according to the positioning reference point includes: For each positioning reference point, calculating a weighting coefficient of the positioning reference point according to the fingerprint Euclidean distance of the positioning reference point; Calculating the target polar diameter according to the polar diameter of the positioning reference point and the weighting coefficient; Calculating a target polar angle according to the polar angle of the positioning reference point and the weighting coefficient; Calculating the target confidence according to the fingerprint Euclidean distance of the positioning reference point; The target polar diameter, the target polar angle and the target confidence are determined as polar coordinates of the mobile terminal device.

6. The method according to claim 5, characterized in that The method further comprises: determining the target polar diameter, the target polar angle and the target confidence as polar coordinates of the mobile terminal device; If there is a minimum value of the sum of the fingerprint Euclidean distances, the target polar diameter and the target polar angle corresponding to the minimum value of the sum of the fingerprint Euclidean distances are determined as the polar coordinates of the mobile terminal device; If there are multiple fingerprint Euclidean distance sums with the same minimum value, calculate the Euclidean distance between the polar coordinates of the minimum value of the sum of the multiple fingerprint Euclidean distances and the polar coordinates last recorded by the mobile device, and determine the polar coordinates corresponding to the minimum value of the Euclidean distance as the polar coordinates of the mobile device.

7. The method according to claim 5, characterized in that The origin of the polar coordinate plane where the positioning polar coordinate point is located is set by the user, the polar diameter is the distance from the origin to the positioning device, and the polar angle is the angle measured counterclockwise starting from the 0 degree angle direction of the polar diameter.

8. The method according to claim 1, characterized in that The step of determining a signal strength indication data frame according to a plurality of signal strength values ​​and receiving time comprises: If there are multiple signal strength values, the multiple signal strength values ​​are processed based on the filtering algorithm to obtain a signal strength processing value; if there is one signal strength value, the signal strength value is set as the signal strength processing value; The signal strength processing value is timestamped with the receiving time to generate a signal strength indication data frame; the receiving time is the time value of receiving the signal strength values ​​of the mobile terminal devices sent by several positioning devices.

9. The method according to claim 1, characterized in that The signal strength indication database includes a first number of positioning polar coordinate points, each positioning polar coordinate point includes a third number of feature data, each feature data includes a fourth number of samples, and the fourth number of samples are generated based on a fourth number of positioning devices.

10. A positioning system, characterized in that: The system comprises: A signal receiving module, used to receive signal strength values ​​of mobile devices sent by several positioning devices, wherein the signal strength values ​​represent the signal strengths of the mobile devices monitored by the several positioning devices; A data frame determination module, used to determine a signal strength indication data frame according to the signal strength value and the receiving time; A positioning reference point matching module, used to match the positioning reference point corresponding to the signal strength indication data frame according to the feature data of the positioning polar coordinate point in the signal strength indication database; The positioning coordinate module is used to calculate the polar coordinates of the mobile terminal device according to the positioning reference point.

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