Low-power-consumption ad hoc network positioning method based on Bluetooth rapid pairing

Abstract

The invention discloses a low-power-consumption ad hoc network positioning method based on Bluetooth rapid pairing, and relates to the technical field of ad hoc network Bluetooth positioners, and the method specifically comprises the steps: firstly dividing a positioner into a node and a main positioner, configuring key parameters, and deploying the key parameters in a region; the positioning node sends a broadcast, and the main positioner is selectively connected with the regional position according to the signal strength and forms a network through a Bluetooth ad hoc network; the positioning node is connected with target equipment, acquires signal intensity data, transmits the signal intensity data to the main positioner regularly, and then gathers the signal intensity data to the management background; and the background determines the target position by using a trilateral positioning algorithm according to the distance between the node position and the target equipment. The TWS earphone rapid pairing technology is used for reference, the connection process is optimized, the networking time is greatly shortened, the rapid deployment requirement is met, the positioning nodes transmit data regularly, the main positioner carries out centralized reporting, energy consumption and maintenance cost are reduced, the model and trilateral positioning algorithm is utilized, background data processing is combined, positioning operation is achieved, and the method can adapt to positioning scenes of different scales.

Description

Technical Field

[0001] The present invention relates to the technical field of ad hoc network Bluetooth locators, in particular to a low-power ad hoc network positioning method based on Bluetooth fast pairing. Background Art

[0002] With the continuous development of Internet of Things technology, Bluetooth positioning technology has been widely used in indoor positioning, asset tracking and other fields due to its advantages such as low cost and low power consumption. However, in Bluetooth positioning applications, traditional Bluetooth networking methods have problems such as slow networking speed and high power consumption. TWS headphones, with their fast pairing technology, can complete the connection between the main and auxiliary headphones in a short time. TWS headphones fast pairing technology is mainly based on the optimization of Bluetooth protocol. Through preset channels, fast identity recognition and other mechanisms, it greatly shortens the pairing and connection time between devices. At present, there is no mature solution that fully applies TWS headphones fast pairing technology to low-power self-organizing network positioning. Therefore, an innovative method is urgently needed to improve the performance of Bluetooth self-organizing network positioning.

[0003] Based on this, a low-power self-organizing network positioning method based on Bluetooth fast pairing is now provided to eliminate the drawbacks of the existing technical solutions. Summary of the Invention

[0004] The purpose of the present invention is to provide a low-power self-organizing network positioning method based on Bluetooth fast pairing, so as to solve the problems of slow networking speed and high power consumption in the traditional Bluetooth networking method in the background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A low-power self-organizing network positioning method based on Bluetooth fast pairing is applied to a low-power self-organizing network positioning system based on Bluetooth fast pairing, specifically comprising the following steps:

[0007] S1. Divide the locator into a positioning node and a main locator, configure the key parameters for TWS headset fast pairing and basic positioning parameters for the positioning node and the main locator, and place the locator in multiple areas. The locator's radio frequency signal can cover the entire area;

[0008] S2: Several positioning nodes send broadcast information on a preset channel. The master locator continuously monitors the preset channel and selects a priority positioning node based on signal strength and regional location after receiving the broadcast information. The locators form a network through the Bluetooth ad hoc network function.

[0009] S3. The positioning node establishes a connection with the target device and measures the signal strength data of the target device in real time. Several positioning nodes periodically transmit data information to the main locator through the network. The main locator aggregates the data and transmits the information to the management background device;

[0010] S4. The management backend device combines the location information of several positioning nodes and the distance information between the target device and the node, uses the three-sided positioning algorithm to calculate the location of the target device, and locates the location of the target device and the locator based on the information.

[0011] Preferably, the key parameters in step S1 include a preset channel and a frequency hopping sequence, the basic positioning parameters include a unique ID, the initial coordinates and initial information of the locator, and the broadcast information in step S2 includes the device ID of the locator and the type of positioning node.

[0012] Preferably, step S2 also includes: the main locator selects a positioning node to be connected preferentially according to the signal strength threshold and the regional priority, establishes a connection between the positioning node to be connected preferentially and the main locator, uses the corresponding positioning node that has been connected to the network as a relay to expand the network, receives the broadcast of the new node and forwards it to the main locator, connects all positioning nodes to the network, and forms an ad hoc network.

[0013] Preferably, the target device in step S3 is set to be a Bluetooth device configured with a Bluetooth node function and whose position needs to be determined, including a movable target device and a fixed target device. The specific steps of establishing a connection between the positioning node and the target device include:

[0014] When the mobile target device enters the area, the positioning node closest to the mobile target device will automatically pair with the device and establish a connection with it. The connected positioning node measures the Bluetooth signal strength of the mobile target device in real time and records the measurement time and corresponding ID;

[0015] If the distance between the mobile target device and the initially connected positioning node exceeds a distance threshold, the connection is automatically disconnected, and the mobile device automatically pairs and connects with other positioning nodes within the area. The other positioning nodes are set as the locators closest to the mobile target device to achieve mobile positioning of the target device.

[0016] If the distance threshold is not exceeded, continue to connect to the initially connected positioning node;

[0017] When the fixed target device is in this area, the positioning node closest to the fixed target device will automatically pair with the device and establish a connection with it. The positioning node that has established a connection measures the Bluetooth signal strength with the fixed target device in real time, and records the measurement time and corresponding ID to realize the positioning operation of the fixed target device.

[0018] Preferably, the specific steps of calculating the target device location in step S4 include:

[0019] After receiving the signal strength information from multiple positioning nodes, the main locator summarizes the location information of each node and transmits it to the management background device;

[0020] The management backend device uses a signal propagation model to obtain the distance between the target device and at least three corresponding positioning nodes;

[0021] The location of the target device is calculated using the three-sided positioning algorithm, and the location is displayed through the management background device. The calculation formula of the three-sided positioning algorithm is:

[0022] Where (x, y) is the target location coordinate, (x1, y1), (x2, y2), and (x3, y3) are the coordinates of the three positioning nodes, and d1, d2, and d3 are the distances between the target device and the three positioning nodes. The distances are calculated based on the signal strength using the signal propagation model.

[0023] Preferably, the signal propagation model is set as a logarithmic distance path loss model, and the model calculation formula is: The distance calculation formula at the distance d is: Where d0 is the reference distance, P r (d) is the received signal strength value at distance d, P r (d0) is the received signal strength value at the reference distance d0, n is the path loss index, X σ is a Gaussian distributed random variable with mean .

[0024] Preferably, the low-power self-organizing network positioning system includes:

[0025] Locators include positioning nodes and a master locator. All positioning nodes collect the signal strength of the target device in real time and transmit it to the master locator through a chain network. The master locator is used to receive and integrate all data from the positioning nodes and report it to the management background device;

[0026] Management background equipment, used to receive information transmitted by the main locator and calculate the location of the target device, and then locate the location of the target device and the locator;

[0027] Target device, used to actively send and receive Bluetooth signals and transmit them back.

[0028] Preferably, the positioning node is used to execute configuration parameters, send broadcast information, measure target device signal strength data and transmit it to the main locator, including:

[0029] A first Bluetooth signal acquisition module is used to acquire the Bluetooth signal strength of the target device;

[0030] The first communication module is used to realize communication connection with the main locator and other positioning nodes and establish an ad hoc network link;

[0031] A first positioning module is used to provide node location information;

[0032] The first data processing module is used to perform preprocessing operations on the data.

[0033] Preferably, the master locator is used to receive broadcast information, select and connect to positioning nodes, build an ad hoc network, and aggregate data and transmit it to a management background device, including:

[0034] a second Bluetooth signal acquisition module, wherein the structure of the second Bluetooth signal acquisition module is consistent with that of the first Bluetooth signal acquisition module;

[0035] a second communication module, wherein the structure of the second communication module is consistent with that of the first communication module;

[0036] a second positioning module, wherein the structure of the second positioning module is consistent with that of the first positioning module;

[0037] a second data processing module, wherein the structure of the second data processing module is consistent with that of the first data processing module;

[0038] The summary transmission module summarizes and organizes the received data information and sends it to the management background device through the second communication module according to the preset data format and protocol.

[0039] Preferably, the management background device includes:

[0040] A data receiving module, used to receive the data information sent by the summary transmission module, and supports multiple network protocols;

[0041] A data storage module, used for storing data information from the data receiving module;

[0042] Data analysis module, which performs in-depth analysis on stored data and calculates the location information of the target device;

[0043] Device management module, used to monitor the operating status of the locator in real time;

[0044] User interaction module provides a visual operation interface for backend managers;

[0045] A processor is used to execute a program for implementing the low-power self-organizing network positioning method based on Bluetooth fast pairing, so as to implement the steps of the low-power self-organizing network positioning method based on Bluetooth fast pairing.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. This invention optimizes the connection process between Bluetooth devices by drawing on the fast pairing technology of TWS headphones. The positioning node sends broadcast information on the preset channel, and the main locator quickly selects the connection object based on signal strength and regional location, greatly shortening the networking time. Compared with traditional Bluetooth networking methods, the positioning network can be deployed in a short time, meeting the needs of scenarios such as large-scale events and emergency rescue where rapid deployment is required;

[0048] 2. The positioning nodes in the present invention transmit data periodically rather than continuously, reducing unnecessary energy consumption. The main locator centrally aggregates data and reports it to the management backend device, avoiding the power consumption waste caused by multiple devices uploading data at the same time, reducing maintenance costs and frequency.

[0049] 3. This invention uses a logarithmic distance path loss model to process signal strength, combines it with a three-sided positioning algorithm, and performs in-depth data analysis and correction through management backend equipment. It can meet application scenarios with high precision requirements such as asset tracking and personnel positioning. It adopts a chain network topology structure. The positioning nodes that have been connected to the network can act as relays to expand the network, receive broadcasts from new nodes and forward them to the main locator, easily realizing network expansion and adapting to positioning needs of different scales.

[0050] 4. The management background device in the present invention can centrally manage the locators, monitor the operating status of the locators in real time, issue early warnings for faulty locators and generate maintenance prompts. Compared with the traditional decentralized management method, it greatly improves the operation and maintenance efficiency and reduces the operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Schematic diagram of the method steps of the present invention.

[0052] Figure 2 It is a structural diagram of the low-power self-organizing network positioning of the present invention.

[0053] Figure 3 Schematic diagram of the structure of the positioner of the present invention.

[0054] Figure 4 It is a structural diagram of the positioning node of the present invention.

[0055] Figure 5 Schematic diagram of the structure of the main positioner of the present invention.

[0056] Figure 6 It is a structural diagram of the management background device of the present invention.

[0057] Notes on the accompanying drawings: locator 100, positioning node 110, first Bluetooth signal acquisition module 111, first communication module 112, first positioning module 113, first data processing module 114, main locator 120, second Bluetooth signal acquisition module 121, second communication module 122, second positioning module 123, second data processing module 124, summary transmission module 125, management background device 200, data receiving module 210, data storage module 220, data analysis module 230, device management module 240, user interaction module 250, processor 260, target device 300. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0059] In this embodiment, if Figures 1-6 As shown, a low-power self-organizing network positioning method based on Bluetooth fast pairing is applied to a low-power self-organizing network positioning system based on Bluetooth fast pairing. The method imitates the TWS headset to broadcast pairing information on a fixed channel to shorten the discovery time, set an identity ID matching mechanism, and use the unique ID of the positioning node 110 and the target device 300 for rapid authentication. In addition, similar to the TWS headset, the radio frequency module is activated only during data transmission to reduce energy consumption. Specifically, the method includes the following steps:

[0060] Assuming a large warehouse with an area of ​​100m×50m as an example, the specific implementation process of the low-power ad hoc network positioning method based on Bluetooth fast pairing is explained:

[0061] S1. Divide the locator 100 into a positioning node 110 and a master locator 120. Configure the key parameters for TWS headset fast pairing and basic positioning parameters for the positioning node 110 and the master locator 120. Place the locator 100 in multiple areas, ensuring that the RF signal of the locator 100 can cover the entire area.

[0062] Specifically, the locator 100 is divided into a positioning node 110 and a main locator 120. According to the layout of the warehouse, a positioning node 110 is deployed every 10 meters in the warehouse, and a total of 50 positioning nodes are deployed. The main locator 120 is placed in the warehouse management office to ensure that its radio frequency signal can cover the entire warehouse area. The key parameters for TWS headset fast pairing are configured for each positioning node 110 and the main locator 120, and the basic positioning parameters are configured. The key parameters in step S1 include the preset channel and frequency hopping sequence. The basic positioning parameters include the unique ID, the initial coordinates of the locator 100, and the initial information.

[0063] S2: Several positioning nodes 110 send broadcast information on a preset channel. The master locator 120 continuously monitors the preset channel and selects the positioning node 110 to connect to based on the signal strength and regional location after receiving the broadcast information. The locators 100 form a network through the Bluetooth ad hoc network function.

[0064] Specifically, after all positioning nodes 110 are started, they send broadcast information on the preset channel. The broadcast information includes the device ID of the locator 100 and the type of the positioning node 110. The main locator 120 continuously monitors the preset channel. After receiving the broadcast information, it selects the positioning node 110 that is preferentially connected based on the signal strength and regional location. It prioritizes the positioning nodes with high signal strength (e.g. RSSI ≥ -65dBm) and located in key areas such as warehouse entrances and exits and passages. After the preferentially connected positioning node 110 establishes a connection with the main locator 120, the corresponding positioning node 110 that has been connected to the network is used as a relay to expand the network. The relay node receives the broadcast of the new node and forwards it to the main locator 120. The main locator 120 establishes a connection with the new node, gradually connecting all positioning nodes 110 to the network to form an ad hoc network.

[0065] S3: The positioning nodes 110 establish a connection with the target device 300 and measure the signal strength data of the target device 300 in real time. Several positioning nodes 110 periodically transmit the data information to the main locator 120 through the network, for example, every 10 seconds. The main locator 120 aggregates the data and transmits the information to the management background device 200.

[0066] Specifically, the target device 300 in step S3 is set as a Bluetooth device configured with a Bluetooth node function whose location needs to be determined, including a movable target device (such as a forklift, a transport truck, etc.) and a fixed target device (such as a large shelf, a fixed device, etc.). The specific steps for the positioning node 110 to establish a connection with the target device 300 include:

[0067] When a mobile target device enters the area, the positioning node 110 closest to the mobile target device will automatically pair with the device and establish a connection with it. The connected positioning node 110 measures the Bluetooth signal strength with the mobile target device in real time and records the measurement time and the corresponding ID. If the distance between the mobile target device and the initially connected positioning node 110 exceeds a distance threshold, the connection is automatically disconnected, and the mobile target device automatically pairs with and connects to other positioning nodes 110 within the area. The other positioning nodes 110 are set as the locators closest to the mobile target device to achieve mobile positioning of the target device 300. If the distance threshold is not exceeded, the mobile target device continues to connect to the initially connected positioning node 110.

[0068] When a fixed target device is in the area, the positioning node 110 closest to the fixed target device will automatically pair with the device and establish a connection with it. The positioning node 110 that has established a connection measures the Bluetooth signal strength with the fixed target device in real time and records the measurement time and corresponding ID to achieve the positioning operation of the fixed target device;

[0069] Specifically, when a forklift enters the warehouse area, the positioning node 110 closest to the forklift will automatically pair with the device and establish a connection with it. The positioning node 110 measures the Bluetooth signal strength with the forklift in real time and records the measurement time and the corresponding ID. When the forklift moves and the distance between it and the initially connected positioning node 110 exceeds the preset distance threshold, which is 15 meters, the connection is automatically disconnected, and at the same time, it automatically pairs and connects with other nearest positioning nodes 110 in the area to achieve dynamic positioning of the forklift. For fixed shelves in the warehouse, the positioning node 110 closest to the shelf automatically pairs with the device and establishes a connection, measures the Bluetooth signal strength with the shelf in real time, records the measurement time and the corresponding ID, and achieves positioning of the fixed shelf.

[0070] S4. The management backend device 200 combines the location information of the positioning nodes 110 and the distance information between the target device 300 and the nodes to calculate the location of the target device 300 using a triangulation algorithm, and locates the location of the target device 300 and the locator 100 based on the information.

[0071] Specifically, the specific steps of calculating the target device location in step S4 include:

[0072] After receiving the forklift signal strength information sent by multiple positioning nodes 110, the main positioning device 120 summarizes the location information of each node at the same time, for example, the coordinates of positioning node A are (10, 10), the coordinates of positioning node B are (20, 15), the coordinates of positioning node C are (15, 25), etc., and transmits the location information of each node to the management background device 200;

[0073] The management backend device 200 uses a signal propagation model to obtain the distance between the target device 300 and at least three corresponding positioning nodes 110;

[0074] The location of the target device 300 is calculated using a three-sided positioning algorithm, and the location is displayed through the management background device 200. The calculation formula of the three-sided positioning algorithm is:

[0075] Among them, the forklift (x, y) is the target position coordinate, (x1, y1), (x2, y2), and (x3, y3) are the coordinates of the three positioning nodes A, B, and C respectively, and d1, d2, and d3 are the distances between the target device 300 and the three positioning nodes 110. The distances are calculated based on the signal strength using the signal propagation model. Once the distance is known, the forklift (x, y) can be calculated using the formula. The signal propagation model is set to the logarithmic distance path loss model, and the model calculation formula is: The distance calculation formula at distance d is: Where d0 is the reference distance, P r (d) is the received signal strength value at distance d, obtained through field measurement, P r (d0) is the received signal strength value at the reference distance d0, n is the path loss index, according to existing research, it can be known that n = 2.5 when the indoor space is open, n = 3.5 when there are dense obstacles, X σ is a Gaussian distribution random variable with a mean of 0. For example, when a forklift is located at a certain position, d0 can be set to 1 meter, the signal strength value received by positioning node A is -65dBm, the signal strength value received by positioning node B is -70dBm, and the signal strength value received by positioning node C is -60dBm. The received signal strength value P at the reference distance d0 is r (d0) is collected by the Bluetooth signal acquisition module and is assumed to be -40dBm. There are many obstacles such as shelves in the warehouse, which is a dense obstacle environment. It is assumed that the path loss index in this method is set to 3.5. According to the distance calculation formula Calculate the distance between the forklift and the positioning node 110. For example, the distance between the forklift and the first positioning node A is: For example, the distance between the forklift and the second positioning node B is: For example, the distance between the forklift and the third positioning node C is Then, according to the calculation formula of the three-sided positioning algorithm, the forklift coordinates (x, y) = (10.79, 18.54) are obtained. The management background device 200 displays the calculated forklift position coordinates on the visual operation interface, so that the manager can intuitively see the specific location of the forklift in the warehouse. The management background device 200 can also record the historical location information of the forklift to form a historical trajectory, so that the manager can analyze and manage the operation route and activity range of the forklift.

[0076] If multiple forklifts need to be located, the management background device 200 can process the data of multiple target devices simultaneously, calculate their positions separately, and display them separately on the interface. The anti-interference solution when multiple target devices 300 are connected simultaneously includes: the positioning node 110 polls the signals of different target devices 300 according to the time slice length set to 20ms, the main locator 120 monitors the channel load in real time, and assigns conflicting devices to different channels (such as BLE broadcast channels 37 / 38 / 39). The management background device 200 uses Kalman filtering on the received signal strength data to eliminate outliers and calculate the position;

[0077] The field measurement steps are as follows: in the target scene, with the positioning node 110 as the center, the target device 300 is placed at d = 1m, 2m, ..., 10m, 50 sets of RSSI data are collected at each distance point, once every 1 second, the average value is recorded, and a "RSSI-d" scatter plot is drawn. The least squares method is used to fit P r (d0) and n;

[0078] Among them Figure 2-Figure 6 As shown, the low-power self-organizing network positioning system includes:

[0079] The locator 100 includes positioning nodes 110 and a master locator 120. All positioning nodes 110 collect the signal strength of the target device 300 in real time and transmit it to the master locator 120 via a chain network. The master locator 120 is used to receive and integrate all data from the positioning nodes 110 and report it to the management backend device 200. The chain network adopts a master-slave topology, with the master locator 120 as the central node and the positioning node 110 as the relay node. The positioning nodes 110 and the master locator 120 achieve signal collection, data transmission and network management of the target device 300 through division of labor and cooperation.

[0080] Specifically, if Figure 2 As shown, the system adopts a chain network topology, with the main locator 120 as the central node, the positioning nodes 110 connected step by step in a relay manner, and the target device 300 is paired with the nearest positioning node 110;

[0081] The management backend device 200 is used to receive information transmitted by the main locator 120 and calculate the position of the target device 300, thereby locating the position of the target device 300 and the locator 100;

[0082] The target device 300 is used to actively send and receive Bluetooth signals and transmit them back;

[0083] Specifically, the target device 300 can actively send Bluetooth broadcast signals so that the positioning node 110 can identify and pair with it. When the positioning node 110 initiates a pairing request, the target device 300 responds and establishes a connection, returning its own signal strength data. It follows the Bluetooth BLE protocol and supports basic operations such as broadcasting, scanning, and connecting to ensure communication compatibility with the positioning node 110. It adopts a periodic sleep mechanism and activates the Bluetooth module only when sending broadcasts or responding to connections, thereby extending battery life.

[0084] Among them Figure 3 and Figure 4 As shown, the positioning node 110 is used to execute configuration parameters, send broadcast information, measure the signal strength data of the target device 300 and transmit it to the main locator 120. The positioning node 110 is a distributed low-power Bluetooth device that is mainly responsible for collecting the signal strength of the target device 300 in real time and transmitting the data through the ad hoc network link, including:

[0085] The first Bluetooth signal acquisition module 111 is used to collect the Bluetooth signal strength of the target device 300. It has a built-in low-noise amplifier and a high-precision Bluetooth chip, can measure the received signal strength in real time, supports multi-channel scanning such as the preset channel 37, and prioritizes the acquisition of the direct wave signal of the target device 300 to reduce the interference of reflected waves;

[0086] The first communication module 112 is used to establish a communication connection with the master locator 120 and other positioning nodes, establish an ad hoc network link, and establish a communication connection with the master locator 120 and other positioning nodes based on the Bluetooth BLE protocol. It supports adaptive rate adjustment and has a relay forwarding function. It can receive broadcast data packets from new nodes and forward them to the master locator 120 to build a chain network topology;

[0087] The first positioning module 113 is used to provide node location information. It has built-in sensors such as accelerometers and gyroscopes to assist in self-position calibration and supports external GPS modules to obtain accurate coordinates as a positioning reference;

[0088] The first data processing module 114 is used to perform pre-processing operations on the data, including sliding average filtering and Kalman filtering to remove multipath effect noise;

[0089] Specifically, after startup, the positioning node 110 loads TWS pairing parameters such as the preset channel and frequency hopping sequence, as well as basic positioning parameters such as the unique ID and initial coordinates. It periodically sends broadcast information containing the device ID and node type on the preset channel, waiting for the target device 300 or the main locator 120 to respond. When a mobile target device enters the area, the nearest positioning node 110 automatically pairs and establishes a connection, collects Bluetooth signal strength (RSSI) in real time, and records the measurement time and ID. If the target device moves beyond the distance threshold, the connection is disconnected and re-paired with the nearest node. The first data processing module 114 performs a sliding average filter or Kalman filter on the RSSI data to eliminate multipath effects and noise interference, thereby improving data accuracy. The pre-processed signal strength data and its own coordinates are regularly transmitted to the main locator 120 in a chain network relay manner through the first communication module 112. The positioning node 110 adopts an intermittent working mode, activating the RF module only when broadcasting, receiving signals, or transmitting data, and entering a dormant state at other times to reduce energy consumption.

[0090] Among them Figure 3 and Figure 5 As shown, the main locator 120 is used to receive broadcast information, select and connect to the positioning node 110, build an ad hoc network, and summarize data and transmit it to the management background device 200, including:

[0091] The second Bluetooth signal acquisition module 121 has the same structure as the first Bluetooth signal acquisition module 111 and the acquisition module structure of the positioning node 110, but has a larger signal coverage range and can be used as a network anchor point to collect signals in key areas;

[0092] The second communication module 122 has the same structure as the first communication module 112 and supports Bluetooth BLE and 4G / 5G / Wi-Fi dual-mode communication. The former is used for data transmission within the ad hoc network, and the latter is used for communication with the management background device 200. It has a network topology management function, can dynamically adjust the node connection priority, and optimize the data transmission path;

[0093] A second positioning module 123, which has the same structure as the first positioning module 113;

[0094] A second data processing module 124 , which has the same structure as the first data processing module 114 ;

[0095] The summary transmission module 125 summarizes and organizes the received data information and sends it to the management background device 200 through the second communication module 122 according to the preset data format and protocol;

[0096] Specifically, the main locator 120 continuously monitors the preset channel, receives the broadcast information of the positioning node 110, selects the positioning node for priority connection according to the signal strength and regional location, and after establishing a connection with the positioning node 110 with priority connection, uses it as a relay node to gradually receive and forward the broadcast of the new node until all positioning nodes 110 are connected to the network, forming a chain-type ad hoc network. The signal strength data and location information transmitted by all positioning nodes 110 are received through the second communication module 122, and integrated into a data packet in a unified format. The integrated data is sent to the management background device 200 via the 4G / 5G or Wi-Fi network through the summary transmission module 125, avoiding power consumption waste caused by simultaneous uploading of multiple nodes. By dynamically adjusting the node connection priority and data transmission path, the network topology is optimized to ensure the stability and efficiency of data transmission. Bluetooth BLE is used for data transmission within the ad hoc network, and 4G / 5G / Wi-Fi is used for communication with the management background to achieve collaborative work between short-distance networking and long-distance data reporting.

[0097] Among them Figure 2 and Figure 6 As shown, the management background device 200 includes:

[0098] The data receiving module 210 is used to receive data information sent by the summary transmission module 125 and supports multiple network protocols;

[0099] The data storage module 220 is used to store the data information from the data receiving module 210;

[0100] The data analysis module 230 performs in-depth analysis on the stored data, calculates the location information of the target device 300, and corrects and optimizes the positioning results;

[0101] The device management module 240 is used to monitor the operating status of the locator 100 in real time, such as device power, signal strength, data transmission frequency, etc. When the battery level of the positioning node 110 is less than 20% or the signal strength is abnormal, it will issue an early warning and generate a maintenance reminder message;

[0102] User interaction module 250 provides a visual operation interface for back-end management personnel, on which they can view the real-time location, historical trajectory and other information of assets, thus achieving accurate management of warehouse assets;

[0103] The processor 260 is configured to execute a program for implementing a low-power self-organizing network positioning method based on Bluetooth fast pairing, so as to implement the steps of the low-power self-organizing network positioning method based on Bluetooth fast pairing;

[0104] Specifically, the data receiving module 210 in the management background device 200 receives the signal strength data and positioning node coordinates transmitted by the main locator 120 through multiple network protocols, the data storage module 220 archives and stores the data, and the data analysis module 230 uses the logarithmic distance path loss model and the three-sided positioning algorithm to determine the two-dimensional coordinates of the target device 300 to achieve the positioning effect.

[0105] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A low-power self-organizing network positioning method based on Bluetooth fast pairing, characterized in that: The system is applied to a low-power self-organizing network positioning system based on Bluetooth fast pairing, which specifically includes the following steps: S1. Divide the locator (100) into a positioning node (110) and a main locator (120), configure the positioning node (110) and the main locator (120) with key parameters for TWS headset fast pairing and basic positioning parameters, and place the locator (100) inside a plurality of areas, so that the radio frequency signal of the locator (100) can cover the entire area; S2, a plurality of positioning nodes (110) send broadcast information on a preset channel, a main locator (120) continuously monitors the preset channel, and after receiving the broadcast information, selects a positioning node (110) to be connected with priority according to signal strength and regional location, and the locators (100) form a network through a Bluetooth ad hoc network function; S3, the positioning node (110) establishes a connection with the target device (300) and measures the signal strength data of the target device (300) in real time. The positioning nodes (110) periodically transmit the data information to the main locator (120) through the network. The main locator (120) aggregates the data and centrally transmits the information to the management background device (200); S4. The management background device (200) combines the location information of the plurality of positioning nodes (110) and the distance information between the target device (300) and the nodes, calculates the location of the target device (300) using a three-sided positioning algorithm, and locates the location of the target device (300) and the locator (100) based on the information.

2. A low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 1, characterized in that: The key parameters in step S1 include a preset channel and a frequency hopping sequence, the basic positioning parameters include a unique ID, initial coordinates and initial information of the locator (100), and the broadcast information in step S2 includes a device ID of the locator (100) and a type of the positioning node (110).

3. The low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 2, characterized in that: The step S2 further includes: the main locator (120) selecting a positioning node for priority connection according to a signal strength threshold and an area priority, establishing a connection between the positioning node (110) for priority connection and the main locator (120), using the corresponding positioning node (110) that has been connected to the network as a relay to expand the network, receiving the broadcast of the new node and forwarding it to the main locator (120), connecting all positioning nodes (110) into the network, and forming an ad hoc network.

4. The low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 1, characterized in that: The target device (300) in step S3 is set as a Bluetooth device configured with a Bluetooth node function and whose position needs to be determined, including a movable target device and a fixed target device. The specific steps of establishing a connection between the positioning node (110) and the target device (300) include: When the movable target device enters the area, the positioning node (110) closest to the movable target device automatically pairs with the device and establishes a connection with it, and the positioning node (110) that establishes a connection measures the Bluetooth signal strength with the movable target device in real time and records the measurement time and the corresponding ID; If the distance between the movable target device and the initially connected positioning node (110) exceeds a distance threshold, the connection is automatically disconnected, and at the same time, automatic pairing and connection operations are performed with other positioning nodes (110) within the area, and the other positioning nodes (110) are set as the locators closest to the movable target device, thereby realizing the mobile positioning operation of the target device (300); If the distance threshold is not exceeded, continue to connect to the initially connected positioning node (110); When the fixed target device is in the area, the positioning node (110) closest to the fixed target device automatically pairs with the device and establishes a connection with it. The connected positioning node (110) measures the Bluetooth signal strength with the fixed target device in real time and records the measurement time and the corresponding ID to achieve the positioning operation of the fixed target device.

5. The low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 1, characterized in that: The specific steps of calculating the target device position in step S4 include: After receiving the signal strength information sent by the plurality of positioning nodes (110), the main locator (120) simultaneously aggregates the location information of each node and transmits the location information of each node to the management background device (200); The management background device (200) uses a signal propagation model to obtain the distance between the target device (300) and at least three corresponding positioning nodes (110); The position of the target device (300) is calculated using a three-sided positioning algorithm, and the position is displayed through the management background device (200). The calculation formula of the three-sided positioning algorithm is: Wherein, (x, y) is the coordinate of the target position, (x1, y1), (x2, y2), and (x3, y3) are the coordinates of the three positioning nodes respectively, and d1, d2, and d3 are the distances between the target device (300) and the three positioning nodes (110), and the distances are calculated according to the signal strength through the signal propagation model.

6. A low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 4, characterized in that: The signal propagation model is set as a logarithmic distance path loss model, and the model calculation formula is: The distance calculation formula at the distance d is: Where d0 is the reference distance, P r (d) is the received signal strength value at distance d, P r (d0) is the received signal strength value at the reference distance d0, n is the path loss index, X σ is a Gaussian distributed random variable with mean 0.

7. The low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 1, characterized in that: The low-power self-organizing network positioning system includes: The locator (100) includes a positioning node (110) and a master locator (120). All positioning nodes (110) collect the signal strength of the target device (300) in real time and transmit it to the master locator (120) through a chain network. The master locator (120) is used to receive and integrate all data from the positioning nodes (110) and report it to the management background device (200). The chain network adopts a master-slave topology. The master locator (120) is a central node and the positioning node (110) is a relay node. A management background device (200) is used to receive information transmitted by the main locator (120) and calculate the position of the target device (300), thereby locating the position of the target device (300) and the locator (100); The target device (300) is used to actively send and receive Bluetooth signals and transmit them back.

8. The low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 7, characterized in that: The positioning node (110) is used to execute configuration parameters, send broadcast information, measure target device (300) signal strength data and transmit the data to the main locator (120), including: A first Bluetooth signal acquisition module (111) for acquiring Bluetooth signal strength of a target device (300); A first communication module (112) is used to achieve communication connection with the main locator (120) and other positioning nodes to establish an ad hoc network link; A first positioning module (113), configured to provide node location information; The first data processing module (114) is used to perform pre-processing operations on the data.

9. A low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 8, characterized in that: The master locator (120) is used to receive broadcast information, select a connection location node (110), build an ad hoc network, and aggregate data and transmit it to a management backend device (200), including: a second Bluetooth signal acquisition module (121), the second Bluetooth signal acquisition module (121) having a structure consistent with that of the first Bluetooth signal acquisition module (111); a second communication module (122), the second communication module (122) having a structure consistent with that of the first communication module (112); a second positioning module (123), the second positioning module (123) having a structure consistent with that of the first positioning module (113); a second data processing module (124), wherein the structure of the second data processing module (124) is consistent with that of the first data processing module (114); The summary transmission module (125) summarizes and organizes the received data information and sends it to the management background device (200) through the second communication module (122) according to the preset data format and protocol.

10. A low-power self-organizing network positioning method based on Bluetooth fast pairing according to claim 9, characterized in that: The management background device (200) includes: A data receiving module (210) is used to receive data information sent by the summary transmission module (125), and supports multiple network protocols; A data storage module (220) is used to store data information from the data receiving module (210); a data analysis module (230) for performing in-depth analysis on the stored data and calculating the location information of the target device (300); A device management module (240) for monitoring the operating status of the locator (100) in real time; A user interaction module (250) provides a visual operation interface for backstage management personnel; The processor (260) is used to execute a program for implementing the low-power self-organizing network positioning method based on Bluetooth fast pairing, so as to implement the steps of the low-power self-organizing network positioning method based on Bluetooth fast pairing.

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