Positioning method, positioning system, server and storage medium based on Bluetooth beacon

Abstract

The present invention discloses a positioning method based on Bluetooth beacons, a positioning system, a server and a storage medium. The positioning method based on Bluetooth beacons is applied to a server. The positioning method based on Bluetooth beacons comprises: obtaining positioning data forwarded by a base station, wherein the positioning data is RSS I signal data of a beacon module scanned by a mobile terminal and sent to the base station by a mobile terminal, wherein the beacon module comprises an omnidirectional antenna and a directional antenna that broadcast RSS I signals at periodic intervals; according to RSS I signal values ​​of an omnidirectional antenna mode and a directional antenna mode in the positioning data within the same time period, selecting a corresponding RSS I signal for positioning, wherein the selection method comprises: when the RSS I signal values ​​of the omnidirectional antenna mode and the directional antenna mode within the same time period are within a first interval range, determining to select the RSS I signal in the directional antenna mode for positioning; when the RSS I signal values ​​of the omnidirectional antenna mode and the directional antenna mode within the same time period are within a second interval range, determining to select the RSS I signal in the omnidirectional antenna mode and the directional antenna mode for positioning.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning method, a positioning system, a server and a storage medium based on Bluetooth beacons. Background Art

[0002] Bluetooth positioning systems have been widely used in indoor navigation, asset management, personnel tracking and other applications. However, in complex environments such as metal hollow structures and industrial environments, Bluetooth signal propagation is affected by reflection, diffraction, refraction and multipath effects, resulting in positioning errors.

[0003] In industrial environments with complex metal structures such as chemical plants and power plants, the multipath propagation effect of Bluetooth signals caused by metal reflection is particularly serious. In particular, in multi-story metal hollow building structures, the signal transmitted by the Bluetooth beacon may be mistakenly detected by the receiver on the lower floor as a signal on the higher floor, causing the positioning system to misjudge the user's floor. This phenomenon is called the "floor crossing" problem. The floor crossing phenomenon affects positioning accuracy and may bring safety hazards and equipment management problems in industrial scenarios. The reflection of the metal structure causes multipath propagation of the signal, causing changes in the signal phase and delay, interfering with the signal demodulation of the receiving mobile terminal, and affecting the positioning accuracy and system stability. In addition, traditional Bluetooth positioning systems often overcome signal attenuation by increasing the transmission power, but this method will increase the power consumption of the device and shorten the battery life. In addition, signal interference in complex environments increases the delay of the system positioning calculation and reduces the real-time performance of positioning.

[0004] In addition, although the simple omnidirectional antenna can transmit in all directions and is suitable for large-scale coverage, its energy dispersion leads to low directional signal strength and poor positioning accuracy. Directional antennas focus on a single direction, which can enhance signal strength and positioning accuracy, but the coverage range is limited and cannot meet the needs of all scenarios. Furthermore, although traditional omnidirectional antennas have a large coverage range, they are easily affected by environmental interference and are difficult to provide high-precision positioning effects; and although directional antennas can provide strong directional radiation, their coverage range is limited and is not suitable for large-scale scenarios.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a positioning method, a positioning system, a server and a storage medium based on Bluetooth beacons, aiming to solve the above technical problems in the prior art.

[0007] To achieve the above object, the present invention provides a positioning method based on Bluetooth beacons, an application and a server, and the positioning method based on Bluetooth beacons includes:

[0008] Acquire positioning data forwarded by the base station, the positioning data being RSSI signal data of a beacon module scanned by the mobile terminal and sent by the mobile terminal to the base station, the beacon module comprising an omnidirectional antenna and the directional antenna that broadcast RSSI signals at periodic intervals;

[0009] According to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the positioning data in the same time period, a corresponding RSSI signal is selected for positioning, wherein the selection method includes:

[0010] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the first interval range, determining to select the RSSI signal in the directional antenna mode for positioning;

[0011] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the second interval range, determining to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning;

[0012] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are within the third interval range in the same time period, it is determined that the RSSI signal in the omnidirectional antenna mode is selected for positioning, and the first interval range ≥ the second interval range ≥ the third interval range.

[0013] Preferably, in the positioning method based on Bluetooth beacons, the first interval ranges from -30 to -50 dBm; the second interval ranges from -50 to -70 dBm; and the third interval ranges from below -70 dBm.

[0014] Preferably, in the positioning method based on Bluetooth beacons, the selection method further comprises:

[0015] When one of the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period is within the first interval range and the other is within the second interval range, it is determined to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

[0016] Preferably, in the positioning method based on Bluetooth beacons, the selection method further comprises:

[0017] When a first difference between the RSSI value of the omnidirectional antenna mode and the RSSI value of the directional antenna mode in the same time period is greater than a first threshold, abandoning the beacon module or lowering the priority of the beacon module;

[0018] When a second difference between the RSSI value of the directional antenna mode and the RSSI value of the omnidirectional antenna mode in the same time period is greater than a second threshold, it is determined to select the RSSI signal in the directional antenna mode for positioning.

[0019] In order to achieve the above object, the present invention further provides a positioning system, the positioning system comprising:

[0020] A beacon module, comprising an omnidirectional antenna and the directional antenna, wherein the omnidirectional antenna and the directional antenna broadcast RSSI signals at periodic intervals to form an omnidirectional antenna mode and a directional antenna mode;

[0021] The base station receives the positioning data sent by the mobile terminal and forwards the positioning data; the positioning data is the RSSI signal data of the omnidirectional antenna mode and the directional antenna mode scanned by the mobile terminal;

[0022] A server receives the positioning data forwarded by the base station, wherein the server is configured to:

[0023] According to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period in the positioning data, a corresponding RSSI signal is selected for positioning, wherein the selection method includes:

[0024] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the first interval range, determining to select the RSSI signal in the directional antenna mode for positioning;

[0025] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the second interval range, determining to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning;

[0026] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are within the third interval range in the same time period, it is determined that the RSSI signal in the omnidirectional antenna mode is selected for positioning, and the first interval range ≥ the second interval range ≥ the third interval range.

[0027] Preferably, in the positioning system, the first interval ranges from -30 to -50 dBm;

[0028] The second interval ranges from -50 to -70 dBm;

[0029] The third interval range is an interval lower than -70dBm.

[0030] Preferably, in the positioning system, the server is further configured to:

[0031] When one of the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period is within the first interval range and the other is within the second interval range, it is determined to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

[0032] Preferably, in the positioning system, the server is further configured to:

[0033] Acquire test data forwarded by the base station, where the test data is data sent by a test mobile terminal to the base station;

[0034] The first interval range, the second interval range, and the third interval range are determined according to the packet loss rate and the RSSI value in the test data.

[0035] Preferably, in the positioning system, the beacon module includes:

[0036] The omnidirectional antenna and the directional antenna;

[0037] A single-pole double-throw switch, comprising two output ends and an input end, wherein the two output ends are respectively connected to the omnidirectional antenna and the directional antenna;

[0038] an inverter connected to the single-pole double-throw switch;

[0039] The Bluetooth communication module is connected to the input end and the inverter respectively.

[0040] Preferably, in the positioning system, the directional antenna comprises:

[0041] substrate;

[0042] A circular patch antenna is disposed on the surface of the substrate and is located at the center;

[0043] At least four PIFAs are arranged on the substrate and distributed around the circular patch antenna. The at least four PIFAs are connected to the circular patch antenna through a power divider with equal amplitude and sequentially delayed equal phases through a feeding network to form directional circularly polarized radiation.

[0044] Preferably, in the positioning system, the number of the PIFAs is four, and the four PIFAs lag in phase by 90° in sequence.

[0045] In order to achieve the above object, the present invention further provides a server, the server comprising:

[0046] at least one processor; and,

[0047] a memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the above-mentioned positioning method based on Bluetooth beacons.

[0049] In order to achieve the above object, the present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above positioning method based on Bluetooth beacons is implemented.

[0050] The present invention has at least the following beneficial effects:

[0051] The present invention obtains positioning data forwarded by a base station, wherein the positioning data is RSSI signal data of a beacon module scanned by the mobile terminal and sent to the base station by the mobile terminal, wherein the beacon module includes an omnidirectional antenna and a directional antenna that broadcast RSSI signals at periodic intervals; according to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the positioning data in the same time period, the corresponding RSSI signal is selected for positioning, wherein the selection method includes: when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a first interval range, determining to select the RSSI signal in the directional antenna mode for positioning; when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a second interval range, determining to select the RSSI signal in the omnidirectional antenna mode and the directional antenna mode for positioning; when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a third interval range, determining to select the RSSI signal in the omnidirectional antenna mode for positioning, the first interval range ≥ the second interval range ≥ the third interval range, so that the priority of the signal data in each beacon module can be dynamically adjusted to reduce interference, so as to achieve more reliable floor identification;

[0052] Furthermore, by dynamically detecting each RSSI value, the true source of each signal can be dynamically determined, and the optimal mode can be automatically switched to reduce the misjudgment of signals from higher floors by lower floors.

[0053] Furthermore, the present invention is particularly aimed at complex environments of metal hollow structures where phenomena such as signal crosstalk are prone to occur. It combines switching between omnidirectional antenna modes and directional antenna modes to achieve dynamic positioning, which can improve positioning accuracy.

[0054] Furthermore, the present invention ensures that the signal acquired by the positioning system comes from the actual floor where the user is located by switching and comparing the omnidirectional and directional antenna modes, and can effectively identify and filter out interference signals from non-target floors, thereby preventing lower floors from mistakenly receiving signals from higher floors and reducing the occurrence of the "floor-hopping" phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a positioning system provided by the present invention;

[0056] Figure 2 for Figure 1 Schematic diagram of a medium directional antenna;

[0057] Figure 3 for Figure 2 Schematic diagram from another perspective;

[0058] Figure 4 for Figure 2 and Figure 3 Return loss plot of a medium directional antenna;

[0059] Figure 5 A schematic diagram of an implementation of a positioning method based on Bluetooth beacons provided by the present invention;

[0060] Figure 6 A schematic diagram of a server of the present invention.

[0061] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0063] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0064] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0065] In the embodiments of the present invention, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0066] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0067] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0068] In order to solve the above problem, the present embodiment relates to a positioning system, which includes a beacon module, a base station, and a server.

[0069] The beacon module includes an omnidirectional antenna 1 and the directional antenna 2. The omnidirectional antenna 1 and the directional antenna 2 broadcast RSSI signals at periodic intervals to form an omnidirectional antenna mode and a directional antenna mode.

[0070] Specifically, the switching between the directional antenna mode and the omnidirectional antenna mode can be achieved by switching the analog switch in time-sharing mode. Through time-sharing control, the beacon module switches into the omnidirectional antenna mode and the directional antenna mode in turn in the same period. When the mobile terminal scans, the RSSI values ​​in the two modes can be obtained successively.

[0071] In omnidirectional antenna mode, the beacon module provides a larger signal coverage range in omnidirectional antenna mode, which can be used for long-distance communication and wide-area positioning. In directional antenna mode, when the user is closer, the beacon module switches to directional mode, concentrates signal power in a specific direction, enhances signal strength, and improves positioning accuracy. Through this switching method, the beacon module can provide the best signal coverage and positioning accuracy in different time intervals and scenarios.

[0072] More specifically, if Figure 1 As shown, the beacon module includes an omnidirectional antenna 1 and a directional antenna 2, a single-pole double-throw switch 3, an inverter 4 and a Bluetooth communication module 5. The single-pole double-throw switch 3 includes two output ends and an input end, and the two output ends are respectively connected to the omnidirectional antenna 1 and the directional antenna 2. The input end is connected to the inverter 4. The Bluetooth communication module 5 is a BLE SOC, which refers to a Bluetooth Low Energy System-on-Chip, and is respectively connected to the input end and the inverter 4.

[0073] The single-pole double-throw switch 3 is connected to one of the omnidirectional antenna 1 and the directional antenna 2 by default each time. When the inverter 4 is reversed, the single-pole double-throw switch 3 is connected to the other one, so that switching between the omnidirectional antenna 1 and the directional antenna 2 can be realized.

[0074] In addition, the traditional linear polarization antenna is easily interfered. The directional antenna 2 provided by the present invention has a stronger ability to resist multipath interference in complex environments, can reduce the signal phase distortion caused by reflection and diffraction, and maintain the stability of signal propagation in an environment with complex metal structures. Specifically, Figure 2 and Figure 3 As shown, the directional antenna 2 includes a substrate 21, a circular patch antenna 22, and at least four PIFA23 (Planar Inverted-F Antenna), the circular patch antenna 22 is arranged on the surface of the substrate 21 and is located in the center; at least four PIFA23 are arranged on the substrate 21 and distributed on the periphery of the circular patch antenna 22, and the at least four PIFA23 are connected to the circular patch antenna 22 through a power divider with equal amplitudes and sequentially lagging equal phases through a feeding network, forming directional circularly polarized radiation. In this embodiment, the number of PIFA23 is four, and the four PIFA23 sequentially lags 90° in phase. In the antenna design, low-cost FR4 is used, and the thickness can be selected as 1.6mm. The return loss of the directional antenna 2 provided by the present invention is as follows: Figure 4 shown.

[0075] The mobile terminal can receive the signals transmitted by the beacon module in omnidirectional and directional modes through a time-sharing switching mechanism, and record the RSSI values ​​in the two modes respectively. The RSSI value in the omnidirectional mode reflects the wide-area coverage strength of the signal, which is suitable for long-distance positioning. The RSSI value in the directional mode indicates the signal strength in a specific direction and is used for precise positioning. By comparing the RSSI values ​​in different modes, the mobile terminal can determine the distance and direction between the user and the beacon, and dynamically adjust the parameters of the positioning system accordingly to achieve higher positioning accuracy. In particular, the positioning signal processing relationship between adjacent floors can effectively reduce the interference caused by the propagation of Bluetooth signals between floors.

[0076] The base station is used to receive the positioning data sent by the mobile terminal and forward the positioning data. The positioning data is the RSSI signal data (usually RSSI value) of the omnidirectional antenna mode and the directional antenna mode scanned by the mobile terminal. After the mobile terminal scans the beacon (RSSI signal data of the omnidirectional antenna mode and the directional antenna mode), it sends the scanned data to the base station, and the base station forwards the data to the server for analysis and processing.

[0077] The server is used to receive positioning data forwarded by the base station. The server compares the RSSI values ​​in different modes and sets a certain threshold to determine whether the received signal is from the target floor. When the RSSI signal strength in both modes is high, the RSSI signal in the directional antenna mode can be preferentially selected as a positioning reference to reduce signal interference from far floors. When the RSSI signal in the omnidirectional antenna mode is much higher than the RSSI signal in the directional antenna mode, it is believed that the signal may come from the adjacent floor rather than the current floor. At this time, the signal of the beacon module can be filtered out or its priority can be lowered to prevent misjudgment.

[0078] In order to solve the above problems, the present embodiment relates to a positioning method based on Bluetooth beacons, which can be applied to a server. The server can be a desktop computer, a tablet computer, a notebook, and other electronic devices with data processing capabilities. In other embodiments, it can also be other electronic devices with data processing capabilities, and no specific restrictions are made here.

[0079] The implementation details of the positioning method based on Bluetooth beacons according to the first embodiment of the present invention are described below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0080] The specific process of this implementation is as follows: Figure 5 As shown, specifically including:

[0081] Step S210, obtaining positioning data forwarded by the base station, wherein the positioning data is RSSI signal data of a beacon module scanned by the mobile terminal and sent by the mobile terminal to the base station, and the beacon module includes an omnidirectional antenna 1 and a directional antenna 2 that broadcast RSSI signals at periodic intervals.

[0082] It should be noted that the omnidirectional antenna 1 and the directional antenna 2 broadcast RSSI signals at fixed intervals. For example, the omnidirectional antenna 1 broadcasts the Bluetooth RSSI signal strength of channels 37, 38, and 39 at a fixed time interval of 330mS, and the directional antenna 2 broadcasts the Bluetooth RSSI signal strength of channels 37, 38, and 39 at a fixed time interval of 330mS. Specifically, they can be distinguished by broadcasting UUID.

[0083] The mobile terminal scans channels 37, 38, and 39 at intervals (for example, at intervals of 238 mS), and sends the RSSI signal of the scanned beacon module to the base station. Specifically, the mobile terminal can report the scanned RSSI signal to the base station via 470 MHz. When the mobile terminal is in motion, it can report once every 5 seconds, and when the mobile terminal is in static mode, it can report once every 10 minutes.

[0084] Step S220, according to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the positioning data within the same time period, select the corresponding RSSI signal for positioning, wherein the selection method includes steps S221 to S224.

[0085] Step S221, when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the first interval range, determining to select the RSSI signal in the directional antenna mode for positioning;

[0086] It should be understood that the first interval range may be, but is not limited to, -30 to -50 dBm. At this time, when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are both within the first interval range in the same period, the RSSI signal in the directional antenna mode is selected for positioning.

[0087] When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are both within the first interval in the same period, there are two situations: one is that the RSSI signal value of the omnidirectional antenna mode is greater than the RSSI signal value of the directional antenna mode; the other is that the RSSI signal value of the directional antenna mode is greater than the RSSI signal value of the omnidirectional antenna mode. In this case, the directional mode is selected regardless of the situation. Since the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are within the first interval, it means that the signals are both strong at this time, and the mobile terminal is relatively close to the beacon module, so the directional beacon can be selected.

[0088] In addition, when using the RSSI signal in the directional antenna mode for positioning, the RSSI signal data in the directional antenna mode can be preprocessed, for example, by first using the Kalman filter algorithm, based on the state space model, first predicting and then combining the observed value correction, filtering out noise, and outputting data.

[0089] Step S222: When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the second interval, determine to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

[0090] It should be understood that the second interval ranges from -50 to -70 dBm. At this time, the signal of the beacon module is not so strong, and the server selects the RSSI signal in the omnidirectional antenna mode and the directional antenna mode.

[0091] In addition, when using RSSI signals in omnidirectional antenna mode and directional antenna mode for positioning, the RSSI signal data in omnidirectional antenna mode and directional antenna mode can be preprocessed, for example, first by using the Kalman filter algorithm to process them separately, and then combining the information of the two modes according to the recursive mechanism to restore the real state, reduce deviation, and output data.

[0092] Step S223: when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a third interval range, determine to select the RSSI signal in the omnidirectional antenna mode for positioning, and the first interval range ≥ the second interval range ≥ the third interval range.

[0093] It should be understood that the third interval is below -70dBm. When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode are within the third interval in the same period, it means that the signal of the beacon module is relatively weak, then the RSSI signal in the omnidirectional antenna mode is selected for positioning, and the result is more accurate.

[0094] In addition, when the RSSI signal in the omnidirectional antenna mode is used for positioning, the RSSI signal data in the omnidirectional antenna mode can be preprocessed, for example, by using a Kalman filter algorithm to overcome interference, extract reliable features, and output data.

[0095] It should be noted that the first interval range, the second interval range, and the third interval range can be obtained by setting a test terminal to test the signal of the beacon module through the test terminal, and determine whether the signal is strong, medium, or weak according to the packet loss rate and the RSSI value, thereby determining the range of the first interval, the second interval, and the third interval. Usually, a signal whose RSSI value is in the first interval is considered to have a strong signal strength, a signal in the second interval is considered to have a medium signal strength, and a signal in the third interval is considered to have a weak signal strength.

[0096] Furthermore, a more accurate floor recognition model can be constructed by combining weighted processing of multi-point RSSI data to achieve reliable floor recognition in complex multi-layer environments, thereby optimizing the positioning accuracy of adjacent floors.

[0097] Step S224: When one of the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period is within the first interval and the other is within the second interval, determine to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

[0098] It is worth noting that when the RSSI signal value of the omnidirectional antenna mode minus the RSSI signal value of the directional antenna mode is greater than the first threshold, it is considered to be crosstalk between adjacent floors. At this time, the data of the beacon module needs to be discarded or the priority of the beacon module needs to be lowered. The first threshold is greater than the width value of the first interval range and the second interval range. For example, if the first interval range is -30 to -50dBm, then the width value of the first interval range is 20dBm; if the second interval range is -50 to -70dBm, then the width value of the second interval range is 20dBm. Then the first threshold is greater than 20dBm, for example, the first threshold is 30dBm or 25dBm.

[0099] It should be noted that the mobile terminal will scan the data of multiple beacon modules each time it scans. Assuming that the data of 3 beacon modules is usually needed, the data of more than 3 (for example, 5) beacon modules will usually be scanned. When it is believed that the data of the beacon module is interfered by the signal of the adjacent floor, the priority of each beacon module can be dynamically adjusted by lowering the priority or discarding the data of the beacon module to minimize the interference of the signal of the adjacent floor.

[0100] In addition, it may also be that when the second difference between the RSSI value of the directional antenna mode and the RSSI value of the omnidirectional antenna mode in the same time period is greater than the second threshold, it is determined to select the RSSI signal in the directional antenna mode for positioning. The value of the second threshold can refer to the first threshold, for example, the second threshold is 30dBm or 25dBm. This indicates that the distance between the mobile terminal and the beacon module is relatively close, and the RSSI signal in the directional antenna mode can be selected for positioning.

[0101] It is worth noting that a neural network model can also be constructed to accurately identify specific floors through weighted processing of RSSI values ​​in directional antenna mode and omnidirectional antenna mode. Reliable floor identification can be achieved in complex multi-layer environments, thereby optimizing the positioning accuracy of adjacent floors.

[0102] The present invention obtains positioning data forwarded by a base station, wherein the positioning data is RSSI signal data of a beacon module scanned by the mobile terminal and sent to the base station by the mobile terminal, wherein the beacon module includes an omnidirectional antenna 1 and a directional antenna 2 that broadcast RSSI signals at periodic intervals; according to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the positioning data in the same time period, the corresponding RSSI signal is selected for positioning, wherein the selection method includes: when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a first interval range, determining to select the RSSI signal in the directional antenna mode for positioning; when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a second interval range, determining to select the RSSI signal in the omnidirectional antenna mode and the directional antenna mode for positioning; when the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within a third interval range, determining to select the RSSI signal in the omnidirectional antenna mode for positioning, the first interval range ≥ the second interval range ≥ the third interval range, so that the priority of the signal data in each beacon module can be dynamically adjusted to reduce interference, so as to achieve more reliable floor identification;

[0103] Furthermore, by dynamically detecting each RSSI value, the true source of each signal can be dynamically determined, and the optimal mode can be automatically switched to reduce the misjudgment of signals from higher floors by lower floors.

[0104] In order to achieve the above object, the present invention also provides a server, such as Figure 6 As shown, the server includes at least one processor 301; and a memory 302 that is communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions that can be executed by the at least one processor 301, and the instructions are executed by the at least one processor 301 so that the at least one processor 301 can execute the above-mentioned Bluetooth beacon-based positioning method.

[0105] The memory 302 and the processor 301 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 301 and the memory 302 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 301 is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor 301.

[0106] The processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 302 can be used to store data used by the processor 301 when performing operations.

[0107] In order to achieve the above object, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above positioning method based on Bluetooth beacons when executed by a processor.

[0108] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned implementation method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each implementation 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 and other media that can store program codes.

[0109] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A positioning method based on Bluetooth beacons, application and server, characterized in that: The positioning method based on Bluetooth beacon includes: Acquire positioning data forwarded by the base station, the positioning data being RSSI signal data of a beacon module scanned by the mobile terminal and sent by the mobile terminal to the base station, the beacon module comprising an omnidirectional antenna and a directional antenna that broadcast RSSI signals at periodic intervals; According to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the positioning data in the same time period, the corresponding RSSI signal is selected for positioning, wherein the selection method includes: When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the first interval range, determining to select the RSSI signal in the directional antenna mode for positioning; When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the second interval range, determining to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning; When the RSS I signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the third interval range, it is determined to select the RSS I signal in the omnidirectional antenna mode for positioning, and the first interval range ≥ the second interval range ≥ the third interval range.

2. The positioning method based on Bluetooth beacon according to claim 1, characterized in that: The first interval ranges from -30 to -50 dBm; the second interval ranges from -50 to -70 dBm; and the third interval ranges below -70 dBm.

3. The positioning method based on Bluetooth beacon according to claim 1, characterized in that: The selection method further comprises: When one of the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period is within the first interval range and the other is within the second interval range, it is determined to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

4. The positioning method based on Bluetooth beacon according to any one of claims 1 to 3, characterized in that: The selection method further comprises: When a first difference between the RSS I value of the omnidirectional antenna mode and the RSS I value of the directional antenna mode in the same time period is greater than a first threshold, abandoning the beacon module or lowering the priority of the beacon module; When a second difference between the RSS I value of the directional antenna mode and the RSS I value of the omnidirectional antenna mode in the same time period is greater than a second threshold, it is determined to select the RSS I signal in the directional antenna mode for positioning.

5. A positioning system, characterized in that: include: A beacon module, comprising an omnidirectional antenna and the directional antenna, wherein the omnidirectional antenna and the directional antenna broadcast RSSI signals at periodic intervals to form an omnidirectional antenna mode and a directional antenna mode; The base station receives the positioning data sent by the mobile terminal and forwards the positioning data; the positioning data is the RSSI signal data of the omnidirectional antenna mode and the directional antenna mode scanned by the mobile terminal; A server receives the positioning data forwarded by the base station, wherein the server is configured to: According to the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period in the positioning data, a corresponding RSSI signal is selected for positioning, wherein the selection method includes: When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the first interval range, determining to select the RSSI signal in the directional antenna mode for positioning; When the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the second interval range, determining to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning; When the RSS I signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period are within the third interval range, it is determined to select the RSS I signal in the omnidirectional antenna mode for positioning, and the first interval range ≥ the second interval range ≥ the third interval range.

6. The positioning system according to claim 5, characterized in that The first interval ranges from -30 to -50 dBm; The second interval ranges from -50 to -70 dBm; The third interval range is an interval lower than -70dBm.

7. The positioning system according to claim 5 or 6, characterized in that: The server is also configured to: When one of the RSSI signal values ​​of the omnidirectional antenna mode and the directional antenna mode in the same time period is within the first interval range and the other is within the second interval range, it is determined to select the RSSI signals in the omnidirectional antenna mode and the directional antenna mode for positioning.

8. The positioning system according to claim 1, characterized in that: The server is also configured to: Acquire test data forwarded by the base station, where the test data is data sent by a test mobile terminal to the base station; The first interval range, the second interval range, and the third interval range are determined according to the packet loss rate and the RSSI value in the test data.

9. The positioning system according to claim 5, characterized in that: The beacon module comprises: The omnidirectional antenna and the directional antenna; A single-pole double-throw switch, comprising two output ends and an input end, wherein the two output ends are respectively connected to the omnidirectional antenna and the directional antenna; an inverter connected to the single-pole double-throw switch; The Bluetooth communication module is connected to the input end and the inverter respectively.

10. The positioning system according to claim 9, characterized in that The directional antenna comprises: substrate; A circular patch antenna is disposed on the surface of the substrate and is located at the center; At least four PIFAs are arranged on the substrate and distributed around the circular patch antenna. The at least four PIFAs are connected to the circular patch antenna through a power divider with equal amplitude and sequentially delayed equal phases through a feeding network to form directional circularly polarized radiation.

11. A server, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the Bluetooth beacon-based positioning method according to any one of claims 1 to 4.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the Bluetooth beacon-based positioning method according to any one of claims 1 to 4 is implemented.

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