Bluetooth AOA base station position determination method and system based on point cloud

Abstract

The invention relates to a Bluetooth AOA base station position determination method and system based on point cloud. The method comprises the following steps: acquiring three-dimensional point cloud data of a Bluetooth AOA base station in a field library; preprocessing the acquired three-dimensional point cloud data; analyzing and identifying the preprocessed three-dimensional point cloud data, and determining the point location of each Bluetooth AOA base station; according to the determined point location of each Bluetooth AOA base station, generating a location map of the Bluetooth AOA base stations by using a computer graphics technology; optimizing the base station layout of the Bluetooth AOA base station according to the position map of the Bluetooth AOA base station; and calibrating and verifying the generated position map of the Bluetooth AOA base station and the optimized base station layout. Compared with the prior art, the method has the advantages that the Bluetooth point location positioning precision is improved, the base station layout is more reasonable, the application range is wide and the like.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a method and system for determining a Bluetooth AOA base station position based on point cloud. Background Art

[0002] In the field of wireless communication technology, Bluetooth technology, as a short-range wireless communication technology, is widely used for data transmission between various devices. With the continuous development of technology, Bluetooth technology is gradually applied to the field of indoor positioning. In the field of satellite navigation and location determination, satellite navigation systems such as the Global Positioning System (GPS) provide high-precision solutions for outdoor positioning. However, in indoor environments or areas with weak satellite signals, these systems often cannot provide accurate location information. Therefore, developing an efficient indoor positioning technology has become a hot topic in research and application.

[0003] Existing Bluetooth base station positioning technology is mainly based on visual inspection of reference objects, or judging the distance based on a laser pen. However, the positioning accuracy of these methods is affected by factors such as the base station layout and accuracy, and can usually only provide relatively rough location information.

[0004] Existing Bluetooth base station positioning technology has great limitations in accuracy. The existing base station layout is usually random and does not take into account the requirements of positioning accuracy, resulting in inaccurate distance and angle measurements between base stations. Therefore, how to improve the accuracy of Bluetooth indoor positioning, especially in complex indoor environments, is an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method and system for determining the location of a Bluetooth AOA base station based on point cloud, so as to improve the accuracy of Bluetooth indoor positioning.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A method for determining a Bluetooth AOA base station position based on point cloud comprises the following steps:

[0008] Collect 3D point cloud data of Bluetooth AOA base stations in the field library;

[0009] Preprocess the collected 3D point cloud data;

[0010] Analyze and identify the pre-processed 3D point cloud data to determine the location of each Bluetooth AOA base station;

[0011] According to the determined location of each Bluetooth AOA base station, a location map of the Bluetooth AOA base station is generated using computer graphics technology;

[0012] According to the location map of the Bluetooth AOA base stations, the base station layout of the Bluetooth AOA base stations is optimized.

[0013] Furthermore, the method further comprises:

[0014] Calibrate and verify the generated Bluetooth AOA base station location map and optimized base station layout.

[0015] Furthermore, a laser radar is used to obtain three-dimensional point cloud data of the Bluetooth AOA base station.

[0016] Furthermore, the preprocessing includes performing noise reduction and denoising processing on the collected three-dimensional point cloud data.

[0017] Furthermore, the noise reduction process adopts a median filtering method, and the denoising process adopts a statistical filtering method.

[0018] Furthermore, the computer graphics technology is:

[0019] Using 3D modeling technology, a virtual model of each Bluetooth AOA base station is established according to the location of each Bluetooth AOA base station, thereby generating a location map of the Bluetooth AOA base station;

[0020] Alternatively, augmented reality technology may be used to overlay a virtual model of the Bluetooth AOA base station in a real environment to obtain a location map of the Bluetooth AOA base station.

[0021] Furthermore, the process of optimizing the base station layout of the Bluetooth AOA base station is specifically as follows:

[0022] Using graph theory algorithms, based on the location map of Bluetooth AOA base stations, the distance and angle between two Bluetooth AOA base stations are measured to optimize the layout of Bluetooth AOA base stations.

[0023] Alternatively, a machine learning algorithm can be used to optimize the layout of Bluetooth AOA base stations based on historical recorded layout data and experience.

[0024] Furthermore, the warehouse is a shopping mall, an office building or a hospital.

[0025] Furthermore, the method is used in an indoor environment or an outdoor environment.

[0026] The present invention also provides a point cloud-based Bluetooth AOA base station location determination system, comprising a memory and a processor, wherein the memory stores a computer program, and the processor calls the computer program to execute the steps of the method described above.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] (1) Improve positioning accuracy: The present invention determines the location of each AOA base station through point cloud technology, and combines computer vision technology and computer graphics technology to identify and process point cloud data to generate an accurate location map of the base station, thereby improving the Bluetooth point positioning accuracy. Compared with the prior art, the present invention makes full use of the three-dimensional information of point cloud data and can more accurately determine the coordinates of the base station, thereby improving the positioning accuracy.

[0029] (2) Optimizing the base station layout: When arranging AOA base stations, the present invention takes into account the requirements for positioning accuracy and uses a graph theory algorithm to accurately calculate the distance and angle between base stations, thereby optimizing the layout. Compared with the prior art, the base station layout of the present invention is more reasonable and can further improve the positioning accuracy.

[0030] (3) Wide application scope: The positioning method of the present invention is not only applicable to indoor environments, but also to outdoor environments where satellite signals are weak. Compared with the prior art, the present invention has a wider application scope and can meet the needs of more application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention provides a flow chart of a method for determining the location of a Bluetooth AOA base station based on point cloud in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] Example 1

[0036] like Figure 1 As shown, this embodiment provides a method for determining the location of a Bluetooth AOA base station based on a point cloud, comprising the following steps:

[0037] S1: Collect the 3D point cloud data of the Bluetooth AOA base station in the field library;

[0038] Laser radar or laser scanner can be used to obtain the 3D point cloud data of the Bluetooth AOA base station in the warehouse

[0039] S2: pre-processing the collected 3D point cloud data;

[0040] Preprocessing includes noise reduction and denoising of the collected 3D point cloud data.

[0041] Optionally, the noise reduction process adopts a median filtering method, and the denoising process adopts a statistical filtering method.

[0042] S3: Analyze and identify the pre-processed three-dimensional point cloud data to determine the location of each Bluetooth AOA base station;

[0043] Computer vision technology can be used to analyze and identify the pre-processed point cloud data to determine the location of each AOA base station;

[0044] S4: generating a location map of the Bluetooth AOA base station using computer graphics technology according to the determined location of each Bluetooth AOA base station;

[0045] Computer graphics techniques are:

[0046] Using 3D modeling technology, a virtual model of each Bluetooth AOA base station is established according to the location of each Bluetooth AOA base station, thereby generating a location map of the Bluetooth AOA base station;

[0047] Alternatively, augmented reality technology may be used to overlay a virtual model of the Bluetooth AOA base station in a real environment to obtain a location map of the Bluetooth AOA base station.

[0048] S5: Optimize the base station layout of the Bluetooth AOA base station according to the location map of the Bluetooth AOA base station.

[0049] The process of optimizing the base station layout of the Bluetooth AOA base station is as follows:

[0050] Using graph theory algorithms, based on the location map of Bluetooth AOA base stations, the distance and angle between two Bluetooth AOA base stations are measured to optimize the layout of Bluetooth AOA base stations.

[0051] Alternatively, a machine learning algorithm can be used to optimize the layout of Bluetooth AOA base stations based on historical recorded layout data and experience;

[0052] Preferably, the method further comprises:

[0053] S6: Calibrate and verify the generated Bluetooth AOA base station location map and the optimized base station layout to ensure the accuracy and stability of the positioning accuracy and positioning algorithm.

[0054] A specific implementation process of the above method is provided below:

[0055] Step 1: Use LiDAR to obtain the 3D point cloud data of the Bluetooth AOA base station in the warehouse.

[0056] Step 2: Preprocess the point cloud data. The median filter method is used for noise reduction, and the statistical filter method is used for denoising.

[0057] Step 3: Use computer vision technology to analyze and identify the pre-processed point cloud data to determine the location of each AOA base station.

[0058] Step 4: Based on the determined location of each AOA base station, use computer graphics technology to generate an accurate location map of the base station. The 3D modeling technology uses LiDAR360MLS software, and the mapping uses Qgis software.

[0059] Step 5: Optimize the layout of base stations based on the generated accurate location map of base stations.

[0060] Step 6: Calibrate and verify the generated accurate base station location map and optimized base station layout.

[0061] Through the above steps, the location of each AOA base station can be accurately determined, an accurate location map of the base stations can be generated, and the layout of the base stations can be optimized, thereby improving the accuracy of Bluetooth indoor positioning.

[0062] Application prospects:

[0063] Due to the advanced nature of this technical solution, it can be widely used in application fields such as wireless communication technology, satellite navigation and position determination, and three-dimensional modeling and computer vision.

[0064] First, in the field of wireless communication technology, the present invention provides a method for determining the precise location of a Bluetooth AOA base station in a warehouse, determining the location of each AOA base station through point cloud technology and generating an accurate location map of the base station, thereby improving the accuracy of Bluetooth point positioning. The development of this technology will greatly promote the application of Bluetooth technology in the field of indoor positioning, especially in complex indoor environments such as shopping malls, office buildings, hospitals, etc., and can provide more accurate indoor positioning services to meet people's growing demand for indoor positioning accuracy.

[0065] Secondly, in the field of satellite navigation and location determination, the technical solution of the present invention can be used as a supplementary means to provide more accurate location information, especially in areas with weak satellite signals. This is of great significance for users who need high-precision positioning, such as mapping, geological exploration, search and rescue operations, etc.

[0066] Finally, in the field of three-dimensional modeling and computer vision, the point cloud technology and computer vision technology provided by the present invention can achieve more accurate three-dimensional reconstruction and recognition of objects, which plays an important role in promoting the development of fields such as architecture, surveying, and virtual reality.

[0067] In general, the technology of the present invention has broad application prospects and large market demand, and is expected to play an important role in the fields of wireless communication technology, satellite navigation and positioning, three-dimensional modeling and computer vision.

[0068] Example 2

[0069] This embodiment provides a point cloud-based Bluetooth AOA base station location determination system, including a memory and a processor, wherein the memory stores a computer program, and the processor calls the computer program to execute the steps of a point cloud-based Bluetooth AOA base station location determination method as described in Embodiment 1.

[0070] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for determining the location of a Bluetooth AOA base station based on point cloud, characterized in that: The following steps are involved: Collect 3D point cloud data of Bluetooth AOA base stations in the field library; Preprocess the collected 3D point cloud data; Analyze and identify the pre-processed 3D point cloud data to determine the location of each Bluetooth AOA base station; According to the determined location of each Bluetooth AOA base station, a location map of the Bluetooth AOA base station is generated using computer graphics technology; According to the location map of the Bluetooth AOA base stations, the base station layout of the Bluetooth AOA base stations is optimized.

2. A method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The method further comprises: Calibrate and verify the generated Bluetooth AOA base station location map and optimized base station layout.

3. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The three-dimensional point cloud data of the Bluetooth AOA base station is obtained by using a laser radar.

4. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The preprocessing includes performing noise reduction and denoising processing on the collected three-dimensional point cloud data.

5. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 4, characterized in that: The noise reduction process adopts a median filtering method, and the denoising process adopts a statistical filtering method.

6. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The computer graphics technology is: Using 3D modeling technology, a virtual model of each Bluetooth AOA base station is established according to the location of each Bluetooth AOA base station, thereby generating a location map of the Bluetooth AOA base station; Alternatively, augmented reality technology may be used to overlay a virtual model of the Bluetooth AOA base station in a real environment to obtain a location map of the Bluetooth AOA base station.

7. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The process of optimizing the base station layout of the Bluetooth AOA base station is specifically as follows: Using graph theory algorithms, based on the location map of Bluetooth AOA base stations, the distance and angle between two Bluetooth AOA base stations are measured to optimize the layout of Bluetooth AOA base stations. Alternatively, a machine learning algorithm can be used to optimize the layout of Bluetooth AOA base stations based on historical recorded layout data and experience.

8. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The warehouse is a shopping mall, an office building or a hospital.

9. The method for determining the location of a Bluetooth AOA base station based on point cloud according to claim 1, characterized in that: The method is used in indoor environments or outdoor environments.

10. A point cloud-based Bluetooth AOA base station location determination system, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor calls the computer program to execute the steps of any one of the methods according to claims 1 to 9.

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