High-precision positioning method and system in control space based on Bluetooth AOA solution

Abstract

The invention discloses a high-precision positioning method and system in a management and control space based on Bluetooth AOA solution, and relates to the technical field of space positioning, and the method comprises the steps: placing a Bluetooth positioning base station based on the management and control space; acquiring visitor face data and positioning data based on the visiting card; acquiring a Bluetooth signal of a visitor to obtain a visitor action path; establishing a visitor heat map, and setting a starting period of the Bluetooth positioning base station; according to an existing method for positioning in a control space, when a wall partition in the control space has relatively strong interference on a Bluetooth signal, an area with relatively weak signal intensity or even no signal exists in the control space; therefore, the problem that the distance between the mobile terminal and the Bluetooth base station in the management and control space cannot be accurately obtained through the Bluetooth base station is solved.

Description

Technical Field

[0001] The present invention relates to the field of space positioning technology, and specifically to a high-precision positioning method and system in a control space based on Bluetooth AOA solution. Background Art

[0002] Controlled space positioning refers to a means of maintaining public safety and order through restrictions and management measures within a specific area; this positioning involves not only the management of geographic space, but also the rational allocation and utilization of space resources; existing methods for controlled space positioning usually include WIFI technology, Bluetooth technology, infrared technology, and ultra-wideband technology.

[0003] In the existing technology, the signal strength obtained by the Bluetooth base station in the control space is usually obtained to determine the distance between the mobile terminal and the Bluetooth base station, and the final position of the mobile terminal is determined after sequence processing and classification through spatial pattern filtering to achieve the positioning of the mobile terminal. Although this method can improve the positioning accuracy and real-time positioning, when the wall partition in the control space has a strong interference to the Bluetooth signal, it will cause the existence of areas with weak signal strength or even no signal in the control space, resulting in the inability to accurately obtain the distance between the mobile terminal of the visitor in the control space and the Bluetooth base station through the Bluetooth base station, which in turn affects the determination of the actual position of the mobile terminal. For example, in the patent application with publication number CN106646352A, a Bluetooth positioning accuracy optimization method based on sensor spatial pattern is disclosed. This scheme is to construct a Bluetooth base station positioning field pattern data The database is used to build an irregular triangulated network (TIN) matching database, so as to significantly improve the positioning accuracy and real-time positioning. Other improvements in positioning within the control space are usually made by using a fusion positioning base station to improve the instability or disconnection of Bluetooth signals due to obstacles. This improvement method requires detailed identification of data such as personnel and materials within the control space. When the flow of personnel in the control space is large, the fusion positioning base station will always have a large workload, increasing the operating load. When the efficiency of the fusion positioning base station is reduced, there will still be areas with weak or even no signal in the control space, resulting in the inability to accurately obtain the distance between the mobile terminal of the visitor in the control space and the Bluetooth base station through the Bluetooth base station, which in turn affects the determination of the actual location of the mobile terminal. In view of this, it is necessary to improve the existing methods for positioning within the control space. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent. By proposing a high-precision positioning method and system in a controlled space based on Bluetooth AOA solution, the present invention is used to solve the problem that in the existing methods for positioning in controlled spaces, when the wall partitions in the controlled space have strong interference with the Bluetooth signal, there will be areas with weak signal strength or even no signal in the controlled space, resulting in the inability to accurately obtain the distance between the mobile terminal of the visitor in the controlled space and the Bluetooth base station through the Bluetooth base station, which in turn affects the determination of the actual location of the mobile terminal.

[0005] To achieve the above objectives, in a first aspect, the present application provides a high-precision positioning method in a control space based on Bluetooth AOA solution, comprising the following steps: A three-dimensional model is established based on the dimension data of the control space, and a Bluetooth positioning base station is placed in the control space based on the three-dimensional model; When a visitor enters the controlled space, the Bluetooth positioning base station is activated based on the visitor card and the visitor's facial data is obtained, and the visitor's positioning data is obtained based on the activated Bluetooth positioning base station; Based on the positioning data of the Bluetooth positioning base station, the Bluetooth signal of the visitor received by each Bluetooth base station is obtained, and all Bluetooth signals are analyzed. Based on the results, the location of the visitor is marked in the control space, and the camera in the control space is started to record the scene where the visitor is located. The recording result is recognized based on the visitor's facial data to obtain the visitor's movement path; When there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's movement path and the positioning data of the Bluetooth positioning base station, and the startup cycle of the Bluetooth positioning base station is set based on the visitor's movement path.

[0006] Further, establishing a three-dimensional model based on the dimension data of the control space, and placing a Bluetooth positioning base station in the control space based on the three-dimensional model includes: Obtaining the dimension data of the control space, wherein the dimension data of the control space includes the length data within the control space, the width data within the control space, the height data within the control space, and the position data of the walls used for partitions within the control space; establishing a spatial coordinate system, recorded as the control coordinate system, wherein the units of all coordinate axes of the control coordinate system are meters; constructing the control space in the control coordinate system in equal proportion based on the dimension data of the control space, recorded as the control model space; The material of the wall used for partition in the controlled space is recorded as partition material; the thickness of the wall used for partition in the controlled space is recorded as partition thickness; for any partition thickness, a wall whose thickness is the partition thickness and whose material is the partition material is obtained, and recorded as a test wall; a Bluetooth positioning base station is placed on one side of the test wall, and a Bluetooth device is placed on the other side of the test wall, a Bluetooth positioning base station is used to send a signal to the Bluetooth device, and the time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal of the Bluetooth device is recorded as the partition feedback time.

[0007] Furthermore, placing a Bluetooth positioning base station in the control space based on the three-dimensional model also includes: Remove the test wall between the Bluetooth positioning base station and the Bluetooth device, and use the Bluetooth positioning base station to send a signal to the Bluetooth device again. The time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal from the Bluetooth device is recorded as the normal feedback time. Get the partition feedback time and regular feedback time corresponding to all partition thicknesses.

[0008] Furthermore, placing a Bluetooth positioning base station in the control space based on the three-dimensional model also includes: Establish a plane rectangular coordinate system, recorded as the partition analysis coordinate system, wherein the X-axis of the partition analysis coordinate system is the partition thickness, and the unit of the Y-axis is time; based on the partition thickness and its corresponding conventional feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a conventional feedback curve; based on the partition thickness and its corresponding partition feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a partition feedback curve; The effective distance of the Bluetooth positioning base station placed in the control space is recorded as the positioning distance; the point where the Bluetooth positioning base station can be placed in the control model space is recorded as the point to be placed; for any point to be placed, a sphere is made with the point to be placed as the center and the positioning distance as the radius, and it is recorded as the pending sphere; when there is a wall used for partition inside the pending sphere, the wall inside the pending sphere is recorded as the wall inside the sphere.

[0009] Furthermore, placing a Bluetooth positioning base station in the control space based on the three-dimensional model also includes: For any radius β that intersects with the inner wall of the sphere to be determined, record the length of the intersection of the radius β and the inner wall of the sphere as X1, draw a straight line X=X1 in the partition analysis coordinate system, and record it as the intersection straight line; record the intersection point of the intersection straight line and the conventional feedback curve as the conventional intersection point, record the intersection point of the intersection straight line and the partition feedback curve as the partition intersection point, and record the value of the ordinate of the conventional intersection point divided by the ordinate of the partition intersection point as the partition ratio; record the value of the positioning distance multiplied by the partition ratio as the partition radius length degree; the point in radius β that is separated from the center of the sphere by the length of the partition radius is recorded as the partition surface point; when the partition surface point is inside the inner wall of the sphere, the point in radius β that is closest to the inner wall of the sphere and the center of the sphere is recorded as the spherical surface adjustment point; when the partition surface point is outside the inner wall of the sphere or on the surface of the inner wall of the sphere, the partition surface point is recorded as the spherical surface adjustment point; the radius β is adjusted to the line connecting the center of the sphere and the spherical surface adjustment point, and the surface of the sphere to be determined is adjusted so that the point where the radius β intersects with the surface of the sphere to be determined coincides with the spherical surface adjustment point; All radii intersecting with the inner wall of the pending sphere are processed, and the pending sphere after adjusting the spherical surface of the pending sphere based on the processing result is recorded as the actual positioning area.

[0010] Furthermore, placing a Bluetooth positioning base station in the control space based on the three-dimensional model also includes: Obtain the actual positioning area corresponding to all points to be placed; when any non-wall area in the control model space does not overlap with the actual positioning area, the non-wall area that does not overlap with the actual positioning area is recorded as a leaky area, and Bluetooth positioning base stations are placed in the leaky area until all leaky areas are within the actual positioning area; Based on the placement of the Bluetooth positioning base station in the control model space, place the Bluetooth positioning base station in the actual control space.

[0011] Further, starting the Bluetooth positioning base station based on the visitor card and obtaining the visitor's face data, and obtaining the visitor's positioning data based on the started Bluetooth positioning base station includes: When a visitor enters the controlled space, a visitor card is provided to the visitor and a Bluetooth positioning base station is activated, wherein the visitor card includes a Bluetooth device; the visitor's facial data is obtained based on the camera and recorded as the visitor's facial data; When the Bluetooth positioning base station is started, the signal transmission and reception data of all Bluetooth positioning base stations and the Bluetooth devices in the visiting card are obtained in real time and recorded as positioning data.

[0012] Furthermore, all Bluetooth signals are analyzed, and based on the results, the visitor's location is marked in the control space, the camera in the control space is started to record the scene where the visitor is located, and the recording results are identified based on the visitor's face data, and the visitor's action path is obtained, including: For the latest acquired positioning data: the three Bluetooth positioning base stations with shorter Bluetooth signal transmission and reception intervals in the positioning data are recorded as real-time positioning base stations; for any real-time positioning base station, a ray is drawn in the control model space based on Bluetooth AOA positioning and the direction of the Bluetooth signal received by the real-time positioning base station, and recorded as the positioning ray; the intersection of the positioning rays corresponding to all real-time positioning base stations is recorded as the real-time positioning point; Start the camera in the area where the real-time positioning point is located in the control space, and obtain the facial data captured by the camera. When the facial data captured by the camera is the same as the visitor's facial data, the real-time positioning point is recorded as the visitor's action point; when the facial data captured by the camera is different from the visitor's facial data, obtain the latest positioning data again until the visitor's action point is obtained; Obtaining roads within the control space will connect all visitor action points in sequence and record them as visitor action paths.

[0013] Furthermore, when there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's action path and the positioning data of the Bluetooth positioning base station, and the activation cycle of the Bluetooth positioning base station is set based on the visitor's action path, including: When there are multiple visitors in the controlled space, the visitor movement paths of the multiple visitors are obtained in real time; all areas in the controlled space are obtained based on the area division of the controlled space; a visitor heat map is established based on the floor plan of the controlled space, and all areas in the controlled space are heat-marked based on the number of visitor movement paths in all areas in the controlled space that contain visitor movement paths, wherein, for any area in the controlled space, the mark when heat-marking is performed is positively correlated with the number of visitor movement paths in the area; When there are visitor movement paths in all areas of the controlled space, the startup cycle of the Bluetooth positioning base station is set to normally on; when there are visitor movement paths in only some areas of the controlled space, the startup cycle of the Bluetooth positioning base station that is not recorded as a real-time positioning base station in the latest analyzed positioning data is set to 2×t, where t is the interval for obtaining positioning data.

[0014] On the second aspect, the present application also provides a high-precision positioning system in a control space based on Bluetooth AOA solution, including a base station placement module, a positioning module, a path acquisition module, and a multi-visitor processing module; The base station placement module is used to establish a three-dimensional model based on the size data of the control space, and place the Bluetooth positioning base station in the control space based on the three-dimensional model; The positioning module is used to start the Bluetooth positioning base station based on the visitor card and obtain the visitor's facial data when the visitor enters the controlled space, and obtain the visitor's positioning data based on the activated Bluetooth positioning base station; The path acquisition module is used to obtain the Bluetooth signal of the visitor received by each Bluetooth base station based on the positioning data of the Bluetooth positioning base station, and analyze all Bluetooth signals. Based on the results, the location of the visitor is marked in the control space, and the camera in the control space is started to record the scene where the visitor is located. The recording result is recognized based on the visitor's face data to obtain the visitor's action path; The multi-visitor processing module is used to establish a visitor heat map based on the visitor's movement path and the positioning data of the Bluetooth positioning base station when there are multiple visitors in the controlled space, and to set the startup cycle of the Bluetooth positioning base station based on the visitor's movement path.

[0015] Beneficial effects of the present invention: the present application first establishes a three-dimensional model based on the size data of the controlled space, and places a Bluetooth positioning base station in the controlled space based on the three-dimensional model; when a visitor enters the controlled space, the visitor's positioning data is obtained based on the visitor card. The advantage of this is that by establishing a three-dimensional model based on the size data of the controlled space and placing a Bluetooth positioning base station, the wall partitions in the controlled space can be effectively analyzed, and based on the interference data of the wall partitions on the Bluetooth signal, Bluetooth positioning base stations are added to the areas in the controlled space where the signal strength is weak or even no signal, thereby ensuring that the Bluetooth signals emitted from all areas in the controlled space can be accurately received by the Bluetooth positioning base station, and then the distance between the mobile terminal of the visitor in the controlled space and the Bluetooth base station is accurately obtained in the subsequent analysis, and accurate positioning is performed; The present application also obtains the visitor's movement path based on the positioning data of the Bluetooth positioning base station; finally, when there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's movement path and the positioning data of the Bluetooth positioning base station, and the startup cycle of the Bluetooth positioning base station is set based on the visitor's movement path. The advantage of this is that by obtaining the visitor's movement path and establishing a visitor heat map, the distribution of visitors in the controlled space can be obtained when the number of visitors is large, thereby determining the startup cycle of the Bluetooth positioning base station, and preventing the Bluetooth positioning base station from causing excessive resource loss due to long-term startup and failure to receive Bluetooth signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a functional block diagram of the system of the present invention; Figure 2 is a flow chart of the steps of the method of the present invention; Figure 3 It is a schematic diagram of the partition analysis coordinate system of the present invention; Figure 4 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0017] 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.

[0018] Example 1, please refer to Figure 1 As shown, the present application provides a high-precision positioning system in a control space based on Bluetooth AOA solution, including a base station placement module, a positioning module, a path acquisition module, and a multi-visitor processing module; The base station placement module is used to establish a three-dimensional model based on the size data of the control space, and place the Bluetooth positioning base station in the control space based on the three-dimensional model; the base station placement module includes a positioning base station placement unit, and the positioning base station placement unit is configured with a positioning unit placement strategy, and the positioning unit placement strategy includes: Obtaining the dimension data of the control space, wherein the dimension data of the control space includes the length data within the control space, the width data within the control space, the height data within the control space, and the position data of the walls used for partitions within the control space; establishing a spatial coordinate system, recorded as the control coordinate system, wherein the units of all coordinate axes of the control coordinate system are meters; constructing the control space in the control coordinate system in equal proportion based on the dimension data of the control space, recorded as the control model space; The material of the partition wall in the control space is recorded as the partition material; in the specific implementation process, for example, in a data processing, it is found that the wall in the control space is made of concrete, and the thicker concrete wall will affect the transmission of the Bluetooth signal, so the concrete can be recorded as the partition material for subsequent analysis; The thickness of the wall used for partition in the controlled space is recorded as the partition thickness; for any partition thickness, a wall with a thickness equal to the partition thickness and a material equal to the partition material is obtained, which is recorded as the test wall; a Bluetooth positioning base station is placed on one side of the test wall, and a Bluetooth device is placed on the other side of the test wall, a Bluetooth positioning base station is used to send a signal to the Bluetooth device, and the time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal of the Bluetooth device is recorded as the partition feedback time; in the specific implementation process, for example, in a data processing, the obtained partition thickness is 15cm, and the partition material is concrete, then a 15cm thick concrete wall can be built as a test wall, the Bluetooth positioning base station is placed on one side of the test wall, and the Bluetooth device is placed on the other side, and by obtaining the partition feedback time and the normal feedback time, the influence of the 15cm concrete wall on the signal feedback of the Bluetooth positioning base station can be obtained; Remove the test wall between the Bluetooth positioning base station and the Bluetooth device, and use the Bluetooth positioning base station to send a signal to the Bluetooth device again. The time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal from the Bluetooth device is recorded as the normal feedback time. Get the partition feedback time and regular feedback time corresponding to all partition thicknesses; Establish a plane rectangular coordinate system, recorded as the partition analysis coordinate system, wherein the X-axis of the partition analysis coordinate system is the partition thickness, and the unit of the Y-axis is time; based on the partition thickness and its corresponding conventional feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a conventional feedback curve; based on the partition thickness and its corresponding partition feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a partition feedback curve; In the specific implementation process, for example, in one data processing, the thicknesses of all partitions are 10 cm, 15 cm and 20 cm respectively; and through analysis, the partition feedback times corresponding to all partition thicknesses are 200 milliseconds, 400 milliseconds and 800 milliseconds respectively, and the conventional feedback times corresponding to all partition thicknesses are 100 milliseconds, 200 milliseconds and 300 milliseconds respectively; the partition analysis coordinate system is obtained as follows Figure 3 As shown, curve QQ1 is a conventional feedback curve, and curve QQ2 is a partition feedback curve; The effective distance of the Bluetooth positioning base station placed in the control space is recorded as the positioning distance; the point where the Bluetooth positioning base station can be placed in the control model space is recorded as the point to be placed; for any point to be placed, a sphere is made with the point to be placed as the center and the positioning distance as the radius, and is recorded as the pending sphere; when there is a wall used for partition in the pending sphere, the wall in the pending sphere is recorded as the wall inside the sphere; For any radius β that intersects with the inner wall of the sphere in the undetermined sphere, the length of the intersection of the radius β and the inner wall of the sphere is recorded as X1, and a straight line X=X1 is drawn in the partition analysis coordinate system and recorded as the intersection straight line; the intersection point of the intersection straight line and the conventional feedback curve is recorded as the conventional intersection point, and the intersection point of the intersection straight line and the partition feedback curve is recorded as the partition intersection point, and the value of the ordinate of the conventional intersection point divided by the ordinate of the partition intersection point is recorded as the partition ratio; In the specific implementation process, for example, in a data processing, the positioning distance is 2m. For a radius β in the to-be-determined sphere, the length of the intersection of the radius β and the inner wall of the sphere is 10cm. Figure 3It can be obtained that the ordinate of the conventional intersection is 100ms, and the ordinate of the partition intersection is 200ms. Then, by calculation, the partition ratio is 0.5; 1m is recorded as the partition radius length; the point in radius β that is 1m away from the center of the sphere to be determined is recorded as the partition surface point; by obtaining the partition surface point, the position where the Bluetooth positioning base station can effectively transmit signals in the direction of radius β under the influence of the partition wall can be obtained, which helps to obtain the actual effective positioning range of the Bluetooth positioning base station, that is, the actual positioning area, so as to assist in subsequent analysis and ensure that the control space can be completely covered by the effective signal transmission of the Bluetooth positioning base station; The value of multiplying the positioning distance by the partition ratio is recorded as the partition radius length; the point in the radius β that is separated from the center of the sphere by the partition radius length is recorded as the partition surface point; when the partition surface point is inside the inner wall of the sphere, the point in the radius β that is closest to the inner wall of the sphere and the center of the sphere is recorded as the spherical adjustment point; when the partition surface point is outside the inner wall of the sphere or on the surface of the inner wall of the sphere, the partition surface point is recorded as the spherical adjustment point; the radius β is adjusted to the line connecting the center of the sphere and the spherical adjustment point, and the surface of the sphere to be determined is adjusted so that the point where the radius β intersects with the surface of the sphere to be determined coincides with the spherical adjustment point; Process all the radii intersecting with the inner wall of the pending sphere, and record the pending sphere after adjusting the spherical surface of the pending sphere based on the processing result as the actual positioning area; Obtain the actual positioning area corresponding to all points to be placed; when any non-wall area in the control model space does not overlap with the actual positioning area, the non-wall area that does not overlap with the actual positioning area is recorded as a leaky area, and Bluetooth positioning base stations are placed in the leaky area until all leaky areas are within the actual positioning area; In the specific implementation process, by placing Bluetooth positioning base stations in the vulnerability area, the purpose is to ensure that the controlled space can be completely covered by the effective signal transmission of the Bluetooth positioning base station, so as to accurately locate the visitors entering the controlled space; Based on the placement of the Bluetooth positioning base station in the control model space, place the Bluetooth positioning base station in the actual control space The positioning module is used to start the Bluetooth positioning base station based on the visitor card and obtain the visitor's facial data when the visitor enters the controlled space, and obtain the visitor's positioning data based on the activated Bluetooth positioning base station; the positioning module includes a visitor positioning unit, and the visitor positioning unit is configured with a visitor positioning strategy, which includes: When a visitor enters the controlled space, a visitor card is provided to the visitor and a Bluetooth positioning base station is activated, wherein the visitor card includes a Bluetooth device; the visitor's facial data is obtained based on the camera and recorded as the visitor's facial data; When the Bluetooth positioning base station is started, the signal reception and transmission data of all Bluetooth positioning base stations and the Bluetooth devices in the visitor card are obtained in real time and recorded as positioning data; in the specific implementation process, the signal reception and transmission data is the data of feedback time and feedback direction when the Bluetooth positioning base station sends a signal to the Bluetooth device and receives the feedback signal from the Bluetooth device; by obtaining the positioning data, it is helpful to determine the location of the visitor through the Bluetooth positioning base station.

[0019] The path acquisition module is used to obtain the Bluetooth signal of the visitor received by each Bluetooth base station based on the positioning data of the Bluetooth positioning base station, and analyze all Bluetooth signals. Based on the results, the location of the visitor is marked in the control space, and the camera in the control space is started to record the scene where the visitor is located. The recording result is recognized based on the visitor's face data to obtain the visitor's action path; The path acquisition module includes a visitor path acquisition unit, which is configured with a visitor path acquisition strategy. The visitor path acquisition strategy includes: for the latest acquired positioning data: three Bluetooth positioning base stations with shorter Bluetooth signal receiving and sending intervals in the positioning data are recorded as real-time positioning base stations; for any real-time positioning base station, a ray is drawn in the control model space based on Bluetooth AOA positioning and the direction of the Bluetooth signal received by the real-time positioning base station, and recorded as a positioning ray; the intersection of the positioning rays corresponding to all real-time positioning base stations is recorded as a real-time positioning point; In this embodiment, the real-time positioning point obtained based on the intersection of the positioning rays is the actual location of the visitor; Start the camera in the area where the real-time positioning point is located in the control space, and obtain the facial data captured by the camera. When the facial data captured by the camera is the same as the visitor's facial data, the real-time positioning point is recorded as the visitor's action point; when the facial data captured by the camera is different from the visitor's facial data, obtain the latest positioning data again until the visitor's action point is obtained; Obtaining roads within the control space will connect all visitor action points in sequence and record them as visitor action paths.

[0020] The multi-visitor processing module is used to establish a visitor heat map based on the visitor's action path and the positioning data of the Bluetooth positioning base station when there are multiple visitors in the controlled space, and set the start-up cycle of the Bluetooth positioning base station based on the visitor's action path; the multi-visitor processing module includes a heat cycle setting unit, and the heat cycle setting unit is configured with a heat cycle setting strategy, and the heat cycle setting strategy includes: When there are multiple visitors in the controlled space, the visitor movement paths of the multiple visitors are obtained in real time; all areas in the controlled space are obtained based on the area division of the controlled space; a visitor heat map is established based on the floor plan of the controlled space, and all areas in the controlled space are heat-marked based on the number of visitor movement paths in all areas in the controlled space that contain visitor movement paths, wherein, for any area in the controlled space, the mark when heat-marking is performed is positively correlated with the number of visitor movement paths in the area; In the specific implementation process, by obtaining the visitor's action path and establishing a visitor heat map, it is possible to obtain the visitor distribution in the controlled space when the number of visitors is large, so as to determine the activation cycle of the Bluetooth positioning base station in subsequent analysis; When there are visitor movement paths in all areas of the controlled space, the startup cycle of the Bluetooth positioning base station is set to be normally open; when there are visitor movement paths in only part of the areas within the controlled space, the startup cycle of the Bluetooth positioning base station that is not recorded as a real-time positioning base station in the latest analyzed positioning data is set to 2×t, where t is the interval for obtaining positioning data; in this embodiment, in order to prevent the Bluetooth positioning base station from causing excessive resource loss due to long-term startup and not receiving Bluetooth signals, the startup cycle of the Bluetooth positioning base station that is not recorded as a real-time positioning base station in the latest analyzed positioning data is set to 2×t. In actual application, the startup cycle of the Bluetooth positioning base station can be adjusted according to the actual visitor heat map. For example, for areas in the controlled area where visitors rarely enter, the startup cycle of the Bluetooth positioning base station in the area can be extended.

[0021] Example 2, please refer to Figure 2 As shown, the present application also provides a high-precision positioning method in a control space based on Bluetooth AOA solution, including the following steps: Step S1, establish a three-dimensional model based on the dimension data of the control space, and place a Bluetooth positioning base station in the control space based on the three-dimensional model; Step S1 includes: Step S101, obtain the dimension data of the control space, wherein the dimension data of the control space includes the length data in the control space, the width data in the control space, the height data in the control space, and the position data of the wall used for partition in the control space; establish a spatial coordinate system, recorded as the control coordinate system, wherein the units of all coordinate axes of the control coordinate system are meters; build the control space in the control coordinate system in equal proportion based on the dimension data of the control space, recorded as the control model space; Step S102, record the material of the wall used for partition in the controlled space as the partition material; record the thickness of the wall used for partition in the controlled space as the partition thickness; for any partition thickness, obtain a wall whose thickness is the partition thickness and whose material is the partition material, and record it as the test wall; place the Bluetooth positioning base station on one side of the test wall, and place the Bluetooth device on the other side of the test wall, use the Bluetooth positioning base station to send a signal to the Bluetooth device, and record the time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal of the Bluetooth device as the partition feedback time; Step S103, remove the test wall between the Bluetooth positioning base station and the Bluetooth device, and use the Bluetooth positioning base station to send a signal to the Bluetooth device again, and record the time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal of the Bluetooth device as the normal feedback time; Get the partition feedback time and regular feedback time corresponding to all partition thicknesses; Step S104, establish a plane rectangular coordinate system, recorded as the partition analysis coordinate system, wherein the X-axis of the partition analysis coordinate system is the partition thickness, and the unit of the Y-axis is time; based on the partition thickness and its corresponding conventional feedback time, punctuate in the partition analysis coordinate system, and record the obtained punctuation points as a curve fitted as a conventional feedback curve; based on the partition thickness and its corresponding partition feedback time, punctuate in the partition analysis coordinate system, and record the obtained punctuation points as a curve fitted as a partition feedback curve; Step S105, record the effective distance of the Bluetooth positioning base station placed in the control space as the positioning distance; record the point where the Bluetooth positioning base station can be placed in the control model space as the point to be placed; for any point to be placed, make a sphere with the point to be placed as the center and the positioning distance as the radius, and record it as the pending sphere; when there is a wall used for partition in the pending sphere, the wall in the pending sphere is recorded as the wall inside the sphere; Step S106, for any radius β in the to-be-determined sphere that intersects with the inner wall of the sphere, record the length of the intersection of the radius β and the inner wall of the sphere as X1, draw a straight line X=X1 in the partition analysis coordinate system, and record it as the intersection straight line; record the intersection point of the intersection straight line and the conventional feedback curve as the conventional intersection point, record the intersection point of the intersection straight line and the partition feedback curve as the partition intersection point, and record the value of the ordinate of the conventional intersection point divided by the ordinate of the partition intersection point as the partition ratio; record the value of the positioning distance multiplied by the partition ratio as the partition The length of the partition radius; the point in the radius β that is separated from the center of the sphere by the partition radius length is recorded as the partition surface point; when the partition surface point is inside the inner wall of the sphere, the point in the radius β that is closest to the inner wall of the sphere and the center of the sphere is recorded as the spherical surface adjustment point; when the partition surface point is outside the inner wall of the sphere or on the surface of the inner wall of the sphere, the partition surface point is recorded as the spherical surface adjustment point; the radius β is adjusted to the line connecting the center of the sphere and the spherical surface adjustment point, and the surface of the sphere to be determined is adjusted so that the point where the radius β intersects with the surface of the sphere to be determined coincides with the spherical surface adjustment point; Step S107, processing all the radii in the pending sphere that intersect with the inner wall of the sphere, and recording the pending sphere after adjusting the spherical surface of the pending sphere based on the processing result as the actual positioning area; Step S108, obtaining the actual positioning areas corresponding to all the points to be placed; when any non-wall area in the control model space does not overlap with the actual positioning area, the non-wall area that does not overlap with the actual positioning area is recorded as a leaky area, and a Bluetooth positioning base station is placed in the leaky area until all the leaky areas are within the actual positioning area; Step S109: Based on the placement position of the Bluetooth positioning base station in the control model space, a Bluetooth positioning base station is placed in the actual control space.

[0022] Step S2, when a visitor enters the controlled space, the Bluetooth positioning base station is activated based on the visitor card and the visitor's face data is obtained, and the visitor's positioning data is obtained based on the activated Bluetooth positioning base station; Step S2 includes: step S201, when a visitor enters the controlled space, providing a visitor card to the visitor and starting a Bluetooth positioning base station, wherein the visitor card includes a Bluetooth device; obtaining the visitor's facial data based on a camera, and recording it as the visitor's facial data; Step S202, after the Bluetooth positioning base station is started, the signal receiving and sending data of all Bluetooth positioning base stations and the Bluetooth device in the visiting card are obtained in real time and recorded as positioning data.

[0023] Step S3, based on the positioning data of the Bluetooth positioning base station, the Bluetooth signal of the visitor received by each Bluetooth base station is obtained, and all Bluetooth signals are analyzed, and the location of the visitor is marked in the control space based on the result, and the camera in the control space is started to record the scene where the visitor is located, and the recording result is identified based on the visitor's face data to obtain the visitor's movement path; Step S3 includes: Step S301, for the latest acquired positioning data: three Bluetooth positioning base stations with shorter Bluetooth signal receiving and sending intervals in the positioning data are recorded as real-time positioning base stations; for any real-time positioning base station, a ray is drawn in the control model space based on Bluetooth AOA positioning and the direction of the Bluetooth signal received by the real-time positioning base station, and recorded as a positioning ray; the intersection of the positioning rays corresponding to all real-time positioning base stations is recorded as a real-time positioning point; Step S302, start the camera in the area where the real-time positioning point is located in the control space, and obtain the facial data captured by the camera. When the facial data captured by the camera is the same as the visitor's facial data, the real-time positioning point is recorded as the visitor's action point; when the facial data captured by the camera is different from the visitor's facial data, obtain the latest positioning data again until the visitor's action point is obtained; Step S303, obtaining roads in the control space to sequentially connect all visitor action points and record them as visitor action paths.

[0024] Step S4, when there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's action path and the positioning data of the Bluetooth positioning base station, and the activation cycle of the Bluetooth positioning base station is set based on the visitor's action path; Step S4 includes: Step S401, when there are multiple visitors in the controlled space, the visitor action paths of the multiple visitors are obtained in real time; all areas in the controlled space are obtained based on the area division of the controlled space; a visitor heat map is established based on the plan view of the controlled space, and all areas in the controlled space are heat-marked based on the number of visitor action paths in all areas containing visitor action paths in the controlled space, wherein, for any area in the controlled space, the mark when heat-marking is performed is positively correlated with the number of visitor action paths in the area; Step S402, when there are visitor movement paths in all areas of the controlled space, the start-up period of the Bluetooth positioning base station is set to normally open; when there are visitor movement paths in only some areas of the controlled space, the start-up period of the Bluetooth positioning base station that is not recorded as a real-time positioning base station in the latest analyzed positioning data is set to 2×t, where t is the interval for obtaining positioning data.

[0025] Example 3, please refer to Figure 4 As shown, Figure 4 The structural diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in the high-precision positioning method in the control space based on Bluetooth AOA solution are executed to achieve the following functions: first, a three-dimensional model is established based on the size data of the control space, and a Bluetooth positioning base station is placed in the control space based on the three-dimensional model; when a visitor enters the control space, the visitor's positioning data is obtained based on the visitor card; the visitor's action path is also obtained based on the positioning data of the Bluetooth positioning base station; finally, when there are multiple visitors in the control space, a visitor heat map is established based on the visitor's action path and the positioning data of the Bluetooth positioning base station, and the start-up cycle of the Bluetooth positioning base station is set based on the visitor's action path.

[0026] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0027] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps in the high-precision positioning method in the controlled space based on Bluetooth AOA solution are executed to achieve the following functions: first, a three-dimensional model is established based on the size data of the controlled space, and a Bluetooth positioning base station is placed in the controlled space based on the three-dimensional model; when a visitor enters the controlled space, the visitor's positioning data is obtained based on the visitor card; the visitor's movement path is also obtained based on the positioning data of the Bluetooth positioning base station; finally, when there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's movement path and the positioning data of the Bluetooth positioning base station, and the start-up cycle of the Bluetooth positioning base station is set based on the visitor's movement path.

[0028] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0029] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A high-precision positioning method in a control space based on Bluetooth AOA solution, characterized in that: The steps include: A three-dimensional model is established based on the dimension data of the control space, and a Bluetooth positioning base station is placed in the control space based on the three-dimensional model; When a visitor enters the controlled space, the Bluetooth positioning base station is activated based on the visitor card and the visitor's facial data is obtained, and the visitor's positioning data is obtained based on the activated Bluetooth positioning base station; Based on the positioning data of the Bluetooth positioning base station, the Bluetooth signal of the visitor received by each Bluetooth base station is obtained, and all Bluetooth signals are analyzed. Based on the results, the location of the visitor is marked in the control space, and the camera in the control space is started to record the scene where the visitor is located. The recording result is recognized based on the visitor's facial data to obtain the visitor's movement path; When there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's movement path and the positioning data of the Bluetooth positioning base station, and the startup cycle of the Bluetooth positioning base station is set based on the visitor's movement path.

2. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 1 is characterized in that: Building a three-dimensional model based on the size data of the control space, and placing Bluetooth positioning base stations in the control space based on the three-dimensional model include: Obtaining the dimension data of the control space, wherein the dimension data of the control space includes the length data within the control space, the width data within the control space, the height data within the control space, and the position data of the walls used for partitions within the control space; establishing a spatial coordinate system, recorded as the control coordinate system, wherein the units of all coordinate axes of the control coordinate system are meters; constructing the control space in the control coordinate system in equal proportion based on the dimension data of the control space, recorded as the control model space; The material of the wall used for partition in the controlled space is recorded as partition material; the thickness of the wall used for partition in the controlled space is recorded as partition thickness; for any partition thickness, a wall whose thickness is the partition thickness and whose material is the partition material is obtained, and recorded as a test wall; a Bluetooth positioning base station is placed on one side of the test wall, and a Bluetooth device is placed on the other side of the test wall, a Bluetooth positioning base station is used to send a signal to the Bluetooth device, and the time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal of the Bluetooth device is recorded as the partition feedback time.

3. The high-precision positioning method in the control space based on Bluetooth AOA solution according to claim 2 is characterized in that: Placing Bluetooth positioning base stations in the control space based on the three-dimensional model also includes: Remove the test wall between the Bluetooth positioning base station and the Bluetooth device, and use the Bluetooth positioning base station to send a signal to the Bluetooth device again. The time between the Bluetooth positioning base station sending the signal and the Bluetooth positioning base station receiving the feedback signal from the Bluetooth device is recorded as the normal feedback time. Get the partition feedback time and regular feedback time corresponding to all partition thicknesses.

4. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 3 is characterized in that: Placing Bluetooth positioning base stations in the control space based on the three-dimensional model also includes: Establish a plane rectangular coordinate system, recorded as the partition analysis coordinate system, wherein the X-axis of the partition analysis coordinate system is the partition thickness, and the unit of the Y-axis is time; based on the partition thickness and its corresponding conventional feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a conventional feedback curve; based on the partition thickness and its corresponding partition feedback time, punctuate the partition analysis coordinate system, and record the obtained punctuation points into a curve as a partition feedback curve; The effective distance of the Bluetooth positioning base station placed in the control space is recorded as the positioning distance; the point where the Bluetooth positioning base station can be placed in the control model space is recorded as the point to be placed; for any point to be placed, a sphere is made with the point to be placed as the center and the positioning distance as the radius, and it is recorded as the pending sphere; when there is a wall used for partition inside the pending sphere, the wall inside the pending sphere is recorded as the wall inside the sphere.

5. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 4 is characterized in that: Placing Bluetooth positioning base stations in the control space based on the three-dimensional model also includes: For any radius β that intersects with the inner wall of the sphere to be determined, record the length of the intersection of the radius β and the inner wall of the sphere as X1, draw a straight line X=X1 in the partition analysis coordinate system, and record it as the intersection straight line; record the intersection point of the intersection straight line and the conventional feedback curve as the conventional intersection point, record the intersection point of the intersection straight line and the partition feedback curve as the partition intersection point, and record the value of the ordinate of the conventional intersection point divided by the ordinate of the partition intersection point as the partition ratio; record the value of the positioning distance multiplied by the partition ratio as the partition radius length degree; the point in radius β that is separated from the center of the sphere by the length of the partition radius is recorded as the partition surface point; when the partition surface point is inside the inner wall of the sphere, the point in radius β that is closest to the inner wall of the sphere and the center of the sphere is recorded as the spherical surface adjustment point; when the partition surface point is outside the inner wall of the sphere or on the surface of the inner wall of the sphere, the partition surface point is recorded as the spherical surface adjustment point; the radius β is adjusted to the line connecting the center of the sphere and the spherical surface adjustment point, and the surface of the sphere to be determined is adjusted so that the point where the radius β intersects with the surface of the sphere to be determined coincides with the spherical surface adjustment point; All radii intersecting with the inner wall of the pending sphere are processed, and the pending sphere after adjusting the spherical surface of the pending sphere based on the processing result is recorded as the actual positioning area.

6. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 5 is characterized in that: Placing Bluetooth positioning base stations in the control space based on the three-dimensional model also includes: Obtain the actual positioning area corresponding to all points to be placed; when any non-wall area in the control model space does not overlap with the actual positioning area, the non-wall area that does not overlap with the actual positioning area is recorded as a leaky area, and Bluetooth positioning base stations are placed in the leaky area until all leaky areas are within the actual positioning area; Based on the placement of the Bluetooth positioning base station in the control model space, place the Bluetooth positioning base station in the actual control space.

7. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 6 is characterized in that: The Bluetooth positioning base station is started based on the visitor card and the visitor's face data is obtained. The location data of the visitor is obtained based on the started Bluetooth positioning base station, including: When a visitor enters the controlled space, a visitor card is provided to the visitor and a Bluetooth positioning base station is activated, wherein the visitor card includes a Bluetooth device; the visitor's facial data is obtained based on the camera and recorded as the visitor's facial data; When the Bluetooth positioning base station is started, the signal transmission and reception data of all Bluetooth positioning base stations and the Bluetooth devices in the visiting card are obtained in real time and recorded as positioning data.

8. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 7 is characterized in that: All Bluetooth signals are analyzed, and based on the results, the visitor's location is marked in the control space. The camera in the control space is activated to record the scene where the visitor is located, and the recording results are identified based on the visitor's facial data. The visitor's action path includes: For the latest acquired positioning data: the three Bluetooth positioning base stations with shorter Bluetooth signal transmission and reception intervals in the positioning data are recorded as real-time positioning base stations; for any real-time positioning base station, a ray is drawn in the control model space based on Bluetooth AOA positioning and the direction of the Bluetooth signal received by the real-time positioning base station, and recorded as the positioning ray; the intersection of the positioning rays corresponding to all real-time positioning base stations is recorded as the real-time positioning point; Start the camera in the area where the real-time positioning point is located in the control space, and obtain the facial data captured by the camera. When the facial data captured by the camera is the same as the visitor's facial data, the real-time positioning point is recorded as the visitor's action point; when the facial data captured by the camera is different from the visitor's facial data, obtain the latest positioning data again until the visitor's action point is obtained; Obtaining roads within the control space will connect all visitor action points in sequence and record them as visitor action paths.

9. The high-precision positioning method in a control space based on Bluetooth AOA solution according to claim 8 is characterized in that: When there are multiple visitors in the controlled space, a visitor heat map is established based on the visitor's action path and the positioning data of the Bluetooth positioning base station, and the activation cycle of the Bluetooth positioning base station is set based on the visitor's action path, including: When there are multiple visitors in the controlled space, the visitor movement paths of the multiple visitors are obtained in real time; all areas in the controlled space are obtained based on the area division of the controlled space; a visitor heat map is established based on the floor plan of the controlled space, and all areas in the controlled space are heat-marked based on the number of visitor movement paths in all areas in the controlled space that contain visitor movement paths, wherein, for any area in the controlled space, the mark when heat-marking is performed is positively correlated with the number of visitor movement paths in the area; When there are visitor movement paths in all areas of the controlled space, the startup cycle of the Bluetooth positioning base station is set to normally on; when there are visitor movement paths in only some areas of the controlled space, the startup cycle of the Bluetooth positioning base station that is not recorded as a real-time positioning base station in the latest analyzed positioning data is set to 2×t, where t is the interval for obtaining positioning data.

10. A high-precision positioning system in a control space based on Bluetooth AOA solution, used to implement the high-precision positioning method in a control space based on Bluetooth AOA solution as described in any one of claims 1 to 9, characterized in that: It includes base station placement module, positioning module, path acquisition module and multi-visitor processing module; The base station placement module is used to establish a three-dimensional model based on the size data of the control space, and place the Bluetooth positioning base station in the control space based on the three-dimensional model; The positioning module is used to start the Bluetooth positioning base station based on the visitor card and obtain the visitor's facial data when the visitor enters the controlled space, and obtain the visitor's positioning data based on the activated Bluetooth positioning base station; The path acquisition module is used to obtain the Bluetooth signal of the visitor received by each Bluetooth base station based on the positioning data of the Bluetooth positioning base station, and analyze all Bluetooth signals. Based on the results, the location of the visitor is marked in the control space, and the camera in the control space is started to record the scene where the visitor is located. The recording result is recognized based on the visitor's face data to obtain the visitor's action path; The multi-visitor processing module is used to establish a visitor heat map based on the visitor's movement path and the positioning data of the Bluetooth positioning base station when there are multiple visitors in the controlled space, and to set the startup cycle of the Bluetooth positioning base station based on the visitor's movement path.

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