A positioning method, device and medium

Abstract

The present invention provides a positioning method, device and medium, which are applied to a terminal to be positioned in a star flash positioning system, and the method comprises: obtaining first distance data of each positioned terminal in at least one positioned terminal, the first distance data being obtained by measuring the position of each positioned terminal by the terminal to be positioned; sending the first distance data of each positioned terminal to a cloud; the cloud is used to determine the initial position information of the terminal to be positioned according to the first distance data of each positioned terminal; obtaining second distance data of each beacon in at least one beacon, the second distance data being obtained by measuring the position of each beacon by the terminal to be positioned; sending the second distance data of each beacon to the cloud; the cloud is also used to adjust the initial position information according to the second distance data of each beacon, so as to obtain the target position information of the terminal to be positioned, and the positioning accuracy can be taken into consideration while reducing the positioning cost.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a positioning method, device and medium. Background Art

[0002] In recent years, with the increasing demand for location services and the continuous iteration of technology, indoor positioning technology has been developing towards high precision and seamlessness, and a variety of positioning sources and corresponding positioning principles have been developed. Indoor positioning technology has developed rapidly as a hot research direction in the field of navigation and positioning in recent years, and has become the key to promoting full-space positioning from outdoor to indoor, from surface to underground.

[0003] Existing indoor positioning technologies include UWB, Bluetooth 5.1, Bluetooth 4.2, and Wi-Fi. Among them, the accuracy of indoor positioning technologies such as Bluetooth and Wi-Fi is mostly above 3m. For application scenarios with an accuracy of about 1m, the accuracy of the above indoor positioning technologies is difficult to meet the requirements. High-precision indoor positioning technologies such as UWB are too expensive and difficult to implement. Summary of the invention

[0004] The present invention aims at the problems existing in the prior art and proposes a positioning method, a device and a medium.

[0005] In a first aspect, an embodiment of the present invention provides a positioning method, which is applied to a terminal to be positioned in a star flash positioning system, and the method includes:

[0006] Acquire first distance data of each located terminal among at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located;

[0007] The first distance data of each located terminal is sent to the cloud; the cloud is used to determine the initial location information of the terminal to be located according to the first distance data of each located terminal;

[0008] Acquire second distance data of each beacon of at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located;

[0009] The second distance data of each beacon is sent to the cloud; the cloud is also used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0010] In one embodiment, before obtaining the first distance data of each located terminal in at least one located terminal, the method further includes:

[0011] Broadcasting a first broadcast configuration message to each located terminal, where the first broadcast configuration message is used to instruct each located terminal to send a first connection request message to the terminal to be located;

[0012] A connection is established with each located terminal according to the first connection request message sent by each located terminal.

[0013] In one embodiment, before obtaining the second distance data of each beacon in at least one beacon, the method further includes:

[0014] Broadcasting a second broadcast configuration message to each beacon, where the second broadcast configuration message is used to instruct each beacon to send a second connection request message to the terminal to be located;

[0015] A connection is established with each beacon according to the second connection request message sent by each beacon.

[0016] In one embodiment, obtaining first distance data of each located terminal in at least one located terminal includes:

[0017] Sending a first attribute configuration message to each located terminal, where the first attribute configuration message is used to instruct each located terminal to send a first attribute message to the terminal to be located, where the first attribute message is used to perform position measurement to obtain first distance data;

[0018] The position measurement is performed according to the first attribute message sent by each located terminal to obtain the first distance data of each located terminal.

[0019] In one embodiment, obtaining second distance data of each beacon of at least one beacon includes:

[0020] Sending a second attribute configuration message to each beacon, where the second attribute configuration message is used to instruct each beacon to send a second attribute message to the terminal to be located, where the second attribute message is used to perform position measurement to obtain second distance data;

[0021] The position measurement is performed according to the second attribute message sent by each beacon to obtain the second distance data of each beacon.

[0022] In one embodiment, the second attribute message for each beacon includes signal strength;

[0023] Performing position measurement according to the second attribute message sent by each beacon to obtain second distance data of each beacon includes:

[0024] According to the signal strength of each beacon, the position measurement is performed on the second attribute message sent by each beacon in a preset order and at a preset time interval to obtain the second distance data of each beacon. The preset order includes the order from large to small according to the signal strength of each beacon.

[0025] In a second aspect, an embodiment of the present invention provides a positioning method, which is applied to the cloud in a star flash positioning system, and the method includes:

[0026] Acquire first distance data of each located terminal among at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located;

[0027] Determine the initial location information of the terminal to be located according to the first distance data of each located terminal;

[0028] Acquire second distance data of each beacon of at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located;

[0029] The initial location information is adjusted according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0030] In a third aspect, an embodiment of the present invention provides a positioning device, which is applied to a terminal to be positioned in a star flash positioning system, and the device includes:

[0031] A first acquisition module, configured to acquire first distance data of each located terminal of at least one located terminal, the first distance data being obtained by measuring the position of each located terminal by the terminal to be located;

[0032] A first sending module is used to send the first distance data of each located terminal to the cloud; the cloud is used to determine the initial position information of the terminal to be located according to the first distance data of each located terminal;

[0033] A second acquisition module is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located;

[0034] The second sending module is used to send the second distance data of each beacon to the cloud; the cloud is also used to adjust the initial position information according to the second distance data of each beacon to obtain the target position information of the terminal to be located.

[0035] In a fourth aspect, an embodiment of the present invention provides a positioning device, which is applied to the cloud in a star flash positioning system, and the device includes:

[0036] A third acquisition module is used to acquire first distance data of each located terminal in at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located;

[0037] A first determining module, configured to determine initial location information of a terminal to be located according to first distance data of each located terminal;

[0038] A fourth acquisition module is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located;

[0039] The first adjustment module is used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0040] In a fifth aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement a positioning method such as any one of the first aspect or a positioning method of the second aspect.

[0041] In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement a positioning method such as any one of the first aspect or a positioning method of the second aspect.

[0042] A positioning method, device and medium provided by the present invention have the following technical effects: positioning is performed based on the Star Flash positioning system, and the positioning accuracy is greatly improved compared with Bluetooth and WIFI positioning technologies, while the cost is reduced compared with UW technology, which can reduce the positioning cost while taking into account the positioning accuracy.

[0043] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0045] Figure 1 A schematic diagram of the connection relationship of a star flash positioning system provided by an exemplary embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a protocol stack architecture of a Star Flash node provided by an exemplary embodiment of the present invention;

[0047] Figure 3 A first flow chart of a positioning method provided by an exemplary embodiment of the present invention;

[0048] Figure 4 A second flow chart of a positioning method provided by an exemplary embodiment of the present invention;

[0049] Figure 5 A flowchart of step S301 of a positioning method provided by an exemplary embodiment of the present invention;

[0050] Figure 6 A third flow chart of a positioning method provided by an exemplary embodiment of the present invention;

[0051] Figure 7 A flowchart of step S303 of a positioning method provided by an exemplary embodiment of the present invention;

[0052] Figure 8 A fifth flow chart of a positioning method provided by an exemplary embodiment of the present invention;

[0053] Fig. 9 A sixth flow chart of a positioning method provided by an exemplary embodiment of the present invention;

[0054] Fig.10 A first frame diagram of a positioning device provided by an exemplary embodiment of the present invention;

[0055] Fig.11 A second framework diagram of a positioning method provided by an exemplary embodiment of the present invention;

[0056] Fig.12 A structural diagram of an electronic device provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0058] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention.

[0059] Before explaining this embodiment, the SparkLink positioning system is briefly described. The SparkLink positioning system in this embodiment is built based on the SparkLink wireless communication technology. As a new wireless short-range communication technology, SparkLink wireless communication technology meets the extreme performance requirements of indoor positioning for latency, power consumption, rate, service quality, etc., and is committed to providing safer, more reliable and more stable wireless short-range connection methods for scenarios such as smart terminals, smart manufacturing, smart homes and smart cars. Supporting device positioning function can extend the application scenarios of the SparkLink wireless communication system and meet the diverse application needs of users.

[0060] The StarShine positioning system includes multiple StarShine nodes connected to each other. Figure 1 In this embodiment, the star flash node can be at least one or more of the terminal 101, the cloud 102 or the beacon 103, and the star flash nodes in the star flash positioning system are connected in communication. The cloud 102 can be a server, a base station or other types of radio nodes, and can communicate with the terminal 101. Further, the star flash positioning system includes a group consisting of multiple terminals 101 and a group consisting of multiple beacons 103.

[0061] The Star Flash node may specifically include a processor, a memory and a transceiver. The processor may be configured to implement the proposed functions, programs and / or methods described. Each level of the communication protocol and the Star Flash protocol may be implemented in the processor. The storage may store various programs and information so that the connected processor runs and stores various programs and accesses information to perform the proposed functions, programs and / or methods. The transceiver is operatively connected to the connected processor to transmit and / or receive radio signals or wired signals. The processor may include an application-specific integrated circuit (ASIC), other chipsets, logic circuits and / or data processing devices. The memory may include a read-only memory (ROM), a random access memory (RAM), a flash memory, a memory card, a storage medium and / or other storage devices. The transceiver may include a baseband circuit and a radio frequency (RF) circuit to process radio frequency signals. When the present embodiment is implemented in software, the technology of this article may be implemented with modules, programs, functions, entities, etc. to perform the functions of this article. These modules may be stored in the memory and executed by the processor. The memory may be implemented within the processor or outside the processor, and may be communicatively coupled to the processor in various ways known in the art. A Star Flash node may be a wireless communication device, such as a sensor, computer, mobile device, camera, or factory equipment with wireless communication capabilities.

[0062] See also Figure 2 ,The protocol stack architecture of the Star Flash Node consists of three parts: the Star Flash access layer, the ,basic service layer and the basic application layer.

[0063] The basic application layer provides protocol support for audio streaming services, video streaming services, data transmission services, etc., and formulates profiles for specific applications. The Spark Basic Service Layer provides a unified and complete functional interface for specific applications of the basic application layer, including functional units such as device discovery, service discovery, connection management, QoS management, security management, multi-domain coordination and measurement management. The control plane of the basic service layer establishes connections and configures transmission parameters. The data plane of the basic service layer performs data transmission and adaptation, and measures transmission quality. The Spark Access Layer provides a pipeline for air interface transmission for the basic service layer, supports the basic service layer functions and the QoS required for data transmission, and can carry deterministic synchronous data transmission or asynchronous data transmission. The Spark Access Layer provides two communication interfaces: SparkLinkbasic (SLB) and SparklinkLowEnergy (SLE). Among them, SLB adopts multiple technologies such as ultra-short frames, multi-point synchronization, two-way authentication, fast interference coordination, two-way authentication encryption, cross-layer scheduling optimization, etc., to support business scenarios with transmission requirements such as low latency, high reliability, precise synchronization, high concurrency and high security. SLE uses Polr channel coding to improve transmission reliability, reduce retransmission and save power consumption. It also supports a maximum transmission bandwidth of 4MHz, a maximum of 8PSK modulation, supports multi-reliable multicast, supports 4KHz short-delay interaction and other features. While ensuring transmission efficiency as much as possible, it fully considers energy-saving factors and is used to carry business scenarios with low power consumption demands. Both SLB and SLE are composed of a physical layer and a data link layer, and provide different transmission services for different business demands. The two complement each other and continue to evolve smoothly according to business needs. In this embodiment, since the application scenario is an indoor positioning scenario, and based on cost considerations, the Star Flash node provided in this embodiment preferably adopts an SLE communication interface.

[0064] On this basis, an embodiment of the present invention provides a positioning method, which is applied to a terminal to be positioned in a Star Flash positioning system. The terminal to be positioned provided in this embodiment is specifically a terminal that needs to be positioned in the above-mentioned terminal 101. When the terminal to be positioned 101 needs to be positioned, the terminal to be positioned can measure the position with the positioned terminal as a server, and the positioned terminal can send the position as a client.

[0065] See also Figure 3 , methods include:

[0066] S301: Acquire first distance data of each located terminal in at least one located terminal.

[0067] The number of located terminals may be one or more, preferably three in this embodiment, and the first distance data of the located terminals is determined by a three-point positioning method. The first distance data is obtained by measuring the position of each located terminal by the terminal to be located. The terminal to be located provided in this embodiment is specifically a terminal that needs to have been located in the above-mentioned terminal 101.

[0068] In one embodiment, before step S301, a communication connection needs to be established with the located terminal. Figure 4 , the method further comprises:

[0069] S401: Broadcast a first broadcast configuration message to each located terminal.

[0070] The first broadcast configuration message is used to instruct each located terminal to send a first connection request message to the terminal to be located. Specifically, the first broadcast configuration message may include at least one of an identifier of the terminal to be located, service information, and a connection request identifier.

[0071] Specifically, the premise for the located terminal to receive the first broadcast configuration message is that the located terminal is in a listening state. After receiving the first broadcast configuration message, the located terminal will initiate a first connection request message according to the content of the first broadcast configuration message. The located terminal sends the first connection request message. The first connection request message may include at least one or more of the located terminal's identifier, target server information, connection parameters, security requirements, and service type.

[0072] S402: Establish a connection with each located terminal according to a first connection request message sent by each located terminal.

[0073] In one embodiment, see Figure 5 , step S301 specifically includes:

[0074] S3011. Send a first attribute configuration message to each located terminal.

[0075] Among them, the first attribute configuration message is used to instruct each located terminal to send a first attribute message to the terminal to be located, and the first attribute message is used to perform position measurement to obtain the first distance data. The first attribute message can be an SSAP (Signal Strength Access Point) message. The first attribute message includes one or more of the following: signal strength indication (Received Signal Strength Indication, RSSI), reference signal receiving power (Reference Signal Receiving Power, RSRP), signal sending time and receiving time difference, arrival angle received by different receiving antennas of the located terminal, phase difference of signal waveform received by different receiving antennas of the located terminal, phase difference of the signal transmitted by different antennas of the terminal to be located received by the same antenna of the located terminal, or time difference, round trip time difference (Round Trip Time, RTT) of the signal transmitted between the terminal to be located and the located terminal.

[0076] S3012: Perform position measurement according to the first attribute message sent by each located terminal to obtain first distance data of each located terminal.

[0077] Specifically, the position measurement is performed according to the RSSI of each located terminal to obtain the first distance data of each located terminal. The calculation formula is as follows:

[0078]

[0079] Among them, d1 is the first distance data, A1 is the strength of the RSSI1 value of the located terminal at a distance of 1 meter, and n is the path loss index (usually a value between 2 and 4, which is set according to the application scenario).

[0080] S302: Send the first distance data of each located terminal to the cloud.

[0081] The cloud is used to determine the initial location information of the terminal to be located according to the first distance data of each located terminal.

[0082] In one embodiment, before step S302, the process also includes: smoothing the first distance data according to the signal strength or ranging confidence in the first attribute data to reduce the impact of the interfered first distance data on the cloud position calculation and improve the positioning accuracy.

[0083] In one embodiment, step S302 further includes sending the first distance data and the first location information of each located terminal to the cloud. The terminal is used to determine the initial location information of the terminal to be located according to the first distance data and the first location information of each located terminal.

[0084] The following is an example of the calculation process of the initial location information. When the number of located terminals is three, namely terminal A, terminal B and terminal C, the initial location information can be calculated based on the three-point positioning. The calculation formula is as follows:

[0085]

[0086] Among them, (x A ,y A ) is the first location information of terminal A, d A is the first distance data of terminal A, (x B ,y B ) is the first location information of terminal B, d B is the first distance data of terminal B, (x C ,y C ) is the first location information of terminal C, d C is the first distance data of terminal C, (x p ,y p ) is the initial location information of the terminal to be located.

[0087] S303: Obtain second distance data of each beacon in at least one beacon.

[0088] The number of beacons may be one or more, preferably three in this embodiment, and the second distance data of the beacons is determined by a three-point positioning method, and the second distance data is obtained by measuring the position of each beacon by the terminal to be positioned.

[0089] In addition, the beacon can act as a client and communicate with the terminal to be located only when positioning. It is in a scanning state when there is no tag connected. It has low power consumption and can be powered by batteries. It is easy to construct, deploy and maintain.

[0090] In one embodiment, before step S303, a communication connection with the beacon is required. Figure 6 , the method further comprises:

[0091] S601: Broadcast a second broadcast configuration message to each beacon.

[0092] The second broadcast configuration message is used to instruct each beacon to send a second connection request message to the terminal to be located. Specifically, the second broadcast configuration message may include at least one of an identifier of the terminal to be located, service information, and a connection request identifier.

[0093] Specifically, the beacon receives the second broadcast configuration message on the premise that the beacon is in a listening state. After receiving the second broadcast configuration message, the beacon will initiate a second connection request message according to the content of the second broadcast configuration message. The beacon sends the second connection request message. The second connection request message may include at least one or more of the beacon identifier, target server information, connection parameters, security requirements, and service type.

[0094] S602: Establish a connection with each beacon according to the second connection request message sent by each beacon.

[0095] In one embodiment, see Figure 7 , step S303 specifically includes:

[0096] S3031. Send a second attribute configuration message to each beacon.

[0097] Among them, the second attribute configuration message is used to instruct each beacon to send a second attribute message to the terminal to be located, and the second attribute message is used to perform position measurement to obtain the second distance data. The second attribute message can be an SSAP (Signal Strength Access Point) message. The second attribute message includes one or more of the following: signal strength indication (Received Signal Strength Indication, RSSI), reference signal receiving power (Reference Signal Receiving Power, RSRP), signal sending time and receiving time difference, arrival angle received by different receiving antennas of the beacon, phase difference of signal waveform received by different receiving antennas of the beacon, phase difference of signals transmitted by different antennas of the terminal to be located received by the same antenna of the beacon, or time difference, round trip time difference (Round Trip Time, RTT) of the signal transmitted between the terminal to be located and the beacon.

[0098] S3032. Perform position measurement according to the second attribute message sent by each beacon to obtain second distance data of each beacon.

[0099] Specifically, the position measurement is performed according to the RSSI of each beacon to obtain the second distance data of each beacon. The calculation formula is as follows:

[0100]

[0101] Among them, d2 is the second distance data, A2 is the strength of the RSSI2 value of the beacon at a distance of 1 meter, and n is the path loss index (usually a value between 2 and 6, which is set according to the application scenario).

[0102] In one embodiment, step S3032 further includes: measuring the position of each beacon in a preset order and at a preset time interval according to the signal strength (ie, RSSI) in the second attribute message sent by each beacon to obtain the second distance data of each beacon.

[0103] Among them, the preset order can be the order of signal strength from large to small. Complete a position measurement with each beacon in turn according to the signal strength. Generally speaking, the terminal to be located will scan multiple beacons at the same time, so after sorting the beacons by signal strength, each beacon can be connected in turn and start ranging. In addition, the preset time interval can be selected according to the specific usage scenario. In some usage scenarios, in order to speed up the ranging speed, the ranging of multiple beacons is usually carried out in parallel, that is, the second beacon does not need to wait for the ranging of the first beacon to be completed before starting ranging, but starts ranging in turn after sorting by signal strength. The preset time interval at this time can be 10ms.

[0104] S304: Send the second distance data of each beacon to the cloud.

[0105] The cloud is also used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0106] In one embodiment, before step S304, the process also includes: smoothing the second distance data according to the signal strength or ranging confidence in the second attribute data to reduce the impact of the interfered second distance data on the cloud position calculation and improve the positioning accuracy.

[0107] In one embodiment, step S302 further includes sending the second distance data and the second location information of each beacon to the cloud. The cloud is used to calculate the intermediate location information according to the second distance data and the second location information of each beacon, and then adjust the initial location information according to the intermediate location information to obtain the target location information.

[0108] The following example illustrates the calculation process of the intermediate position information. When there are three beacons, namely beacon E, beacon F and beacon G, the intermediate position information can be calculated based on three-point positioning. The calculation formula is as follows:

[0109]

[0110] Among them, (x E ,y E ) is the second location information of beacon E, d E is the second distance data of beacon E, (x F ,y F ) is the second location information of beacon F, d Fis the second distance data of beacon F, (x G ,y G ) is the second location information of beacon G, d G is the second distance data of beacon G, (x q ,y q ) is the intermediate position information of the terminal to be located.

[0111] In this embodiment, the terminal to be located can use the first distance data of the located terminal for pre-positioning, and can quickly specify the approximate location of the terminal to be located during the positioning process, which can effectively shorten the positioning time; at the same time, the initial position information is corrected according to the second distance data of at least one beacon to obtain the target position information, thereby improving the positioning accuracy.

[0112] An embodiment of the present invention provides a positioning method, which is applied to a terminal to be positioned in a Starflash positioning system and can be executed when there is no positioned terminal near the terminal to be positioned, so as to directly obtain the position information of the positioned terminal through a beacon.

[0113] See also Figure 8 , methods include:

[0114] S801. Obtain second distance data of each beacon in at least one beacon.

[0115] The number of beacons may be one or more, and preferably three in this embodiment, and the second distance data is obtained by measuring the position of each beacon by the terminal to be located.

[0116] S802: Send the second distance data of each beacon to the cloud.

[0117] The cloud is also used to determine the target location information of the terminal to be located based on the second distance data of each beacon.

[0118] In this embodiment, the process of obtaining the second distance data and the process of calculating the target position information can refer to the above embodiment and will not be described in detail here.

[0119] The embodiment of the present invention provides a positioning method, which is applied to the cloud in the star flash positioning system, see Fig. 9 , methods include:

[0120] S901: Acquire first distance data of each located terminal in at least one located terminal.

[0121] The first distance data is obtained by measuring the position of each located terminal by the terminal to be located. The calculation process of the first distance data may refer to the above embodiment.

[0122] S902: Determine initial location information of the terminal to be located according to the first distance data of each located terminal.

[0123] S903: Obtain second distance data of each beacon in at least one beacon.

[0124] The second distance data is obtained by measuring the position of each beacon by the terminal to be located, and the calculation process of the second distance data may refer to the above embodiment.

[0125] S904: Adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0126] The calculation process of the initial position information and the target position information in this embodiment can refer to the above embodiment and will not be repeated here.

[0127] The embodiment of the present invention provides a positioning device, which is applied to a terminal to be positioned in a star flash positioning system, see Fig.10 , the device comprises:

[0128] The first acquisition module 1001 is configured to acquire first distance data of each located terminal in at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located.

[0129] The first sending module 1002 is used to send the first distance data of each located terminal to the cloud; the cloud is used to determine the initial location information of the terminal to be located according to the first distance data of each located terminal.

[0130] The second acquisition module 1003 is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located.

[0131] The second sending module 1004 is used to send the second distance data of each beacon to the cloud; the cloud is also used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0132] In one embodiment, before executing the first acquisition module 1001, the following steps are also executed:

[0133] The first broadcast module is used to broadcast a first broadcast configuration message to each located terminal, where the first broadcast configuration message is used to instruct each located terminal to send a first connection request message to the terminal to be located.

[0134] The first connection module is configured to establish a connection with each located terminal according to a first connection request message sent by each located terminal.

[0135] In one embodiment, the first acquisition module 1001 is further used to:

[0136] A second broadcast configuration message is broadcast to each beacon, where the second broadcast configuration message is used to instruct each beacon to send a second connection request message to the terminal to be located.

[0137] A connection is established with each beacon according to the second connection request message sent by each beacon.

[0138] In one embodiment, before executing the second acquisition module 1003, the following steps are further executed:

[0139] The second connection module is used to send a first attribute configuration message to each located terminal, where the first attribute configuration message is used to instruct each located terminal to send a first attribute message to the terminal to be located, where the first attribute message is used to perform position measurement to obtain first distance data.

[0140] The second connection module is used to perform position measurement according to the first attribute message sent by each located terminal to obtain first distance data of each located terminal.

[0141] In one embodiment, the second acquisition module 1003 is further used to:

[0142] Sending a second attribute configuration message to each beacon, where the second attribute configuration message is used to instruct each beacon to send a second attribute message to the terminal to be located, where the second attribute message is used to perform position measurement to obtain second distance data;

[0143] The position measurement is performed according to the second attribute message sent by each beacon to obtain the second distance data of each beacon.

[0144] The embodiment of the present invention provides a positioning device, which is applied to the cloud in the star flash positioning system, see Fig.11 , the device comprises:

[0145] The third acquisition module 1101 is configured to acquire first distance data of each located terminal in at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located.

[0146] The first determining module 1102 is configured to determine initial location information of the terminal to be located according to first distance data of each located terminal.

[0147] The fourth acquisition module 1103 is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located.

[0148] The first adjustment module 1104 is used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

[0149] The device and method embodiments in the embodiments of the present invention are based on the same inventive concept.

[0150] An exemplary embodiment of the present disclosure provides an electronic device, such as Fig.12 As shown, the electronic device 1200 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 1210 (the processor 1210 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1230 for storing data, and one or more storage media 1220 (such as one or more mass storage devices) for storing application programs 1223 or data 1222. Among them, the memory 1230 and the storage medium 1220 can be short-term storage or permanent storage. The storage medium 1220 stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above method.

[0151] Furthermore, the CPU 1210 may be configured to communicate with the storage medium 1220 to execute a series of instruction operations in the storage medium 1220 on the electronic device 1200. The electronic device 1200 may also include one or more power supplies 1260, one or more wired or wireless network interfaces 120, one or more input and output interfaces 1240, and / or one or more operating systems 1221, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0152] The input / output interface 1240 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 1200. In one example, the input / output interface 1240 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 1240 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0153] It can be understood by those skilled in the art that Fig.12The structure shown is for illustration only and does not limit the structure of the above electronic device. Fig.12 More or fewer components as shown, or with Fig.12 Different configurations are shown.

[0154] An embodiment of the present disclosure also provides a computer-readable storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a method in the method embodiment, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above method.

[0155] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0156] It should be noted that the above-mentioned sequence of the embodiments of the present disclosure is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0157] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0158] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0159] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A positioning method, characterized in that: The method is applied to a terminal to be positioned in a star flash positioning system, and comprises: Acquire first distance data of each located terminal among at least one located terminal, where the first distance data is obtained by measuring a position of each located terminal by the terminal to be located; The first distance data of each located terminal is sent to the cloud; the cloud is used to determine the initial location information of the terminal to be located according to the first distance data of each located terminal; Acquire second distance data of each beacon of at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located; The second distance data of each beacon is sent to the cloud; the cloud is also used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

2. The positioning method according to claim 1, characterized in that: Before acquiring the first distance data of each located terminal in at least one located terminal, the method further includes: Broadcasting a first broadcast configuration message to each of the located terminals, where the first broadcast configuration message is used to instruct each of the located terminals to send a first connection request message to the terminal to be located; A connection is established with each located terminal according to the first connection request message sent by each located terminal.

3. The positioning method according to claim 1, characterized in that: Before acquiring the second distance data of each beacon in at least one beacon, the method further includes: Broadcasting a second broadcast configuration message to each of the beacons, where the second broadcast configuration message is used to instruct each of the beacons to send a second connection request message to the terminal to be located; A connection is established with each beacon according to the second connection request message sent by each beacon.

4. The positioning method according to claim 1, characterized in that: The acquiring first distance data of each located terminal in at least one located terminal comprises: Sending a first attribute configuration message to each of the located terminals, where the first attribute configuration message is used to instruct each of the located terminals to send a first attribute message to the terminal to be located, where the first attribute message is used to perform position measurement to obtain first distance data; Position measurement is performed according to the first attribute message sent by each located terminal to obtain first distance data of each located terminal.

5. The positioning method according to claim 1, characterized in that: The obtaining of second distance data of each beacon of at least one beacon comprises: Sending a second attribute configuration message to each beacon, where the second attribute configuration message is used to instruct each beacon to send a second attribute message to the terminal to be located, where the second attribute message is used to perform position measurement to obtain the second distance data; Position measurement is performed according to the second attribute message sent by each beacon to obtain second distance data of each beacon.

6. The positioning method according to claim 5, characterized in that: The second attribute message of each beacon includes signal strength; The performing position measurement according to the second attribute message sent by each beacon to obtain second distance data of each beacon includes: According to the signal strength of each beacon, the position measurement of the second attribute message sent by each beacon is performed in a preset order and at a preset time interval to obtain the second distance data of each beacon, and the preset order includes the order from large to small according to the signal strength of each beacon.

7. A positioning method, characterized in that: Applied to the cloud in the star flash positioning system, the method comprises: Acquire first distance data of each located terminal among at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located; Determining the initial location information of the terminal to be located according to the first distance data of each located terminal; Acquire second distance data of each beacon of at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located; The initial location information is adjusted according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

8. A positioning device, characterized in that: The device is applied to a terminal to be positioned in a star flash positioning system, and comprises: A first acquisition module, configured to acquire first distance data of each located terminal among at least one located terminal, wherein the first distance data is obtained by measuring a position of each located terminal by the terminal to be located; A first sending module, used for sending the first distance data of each located terminal to the cloud; the cloud is used for determining the initial location information of the terminal to be located according to the first distance data of each located terminal; A second acquisition module is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located; The second sending module is used to send the second distance data of each beacon to the cloud; the cloud is also used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

9. A positioning device, characterized in that: Applied to the cloud in the star flash positioning system, the device comprises: A third acquisition module is used to acquire first distance data of each located terminal in at least one located terminal, where the first distance data is obtained by measuring the position of each located terminal by the terminal to be located; A first determining module, configured to determine the initial location information of the terminal to be located according to the first distance data of each located terminal; A fourth acquisition module is used to acquire second distance data of each beacon in at least one beacon, where the second distance data is obtained by measuring the position of each beacon by the terminal to be located; The first adjustment module is used to adjust the initial location information according to the second distance data of each beacon to obtain the target location information of the terminal to be located.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the positioning method described in any one of claims 1 to 6 or the positioning method described in claim 7.

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