A low-power self-organizing network positioning method based on Bluetooth fast pairing

Abstract

The application discloses a low-power self-organizing network positioning method based on Bluetooth quick pairing, and relates to the technical field of self-organizing network Bluetooth locators, and specifically comprises the following steps: first, the locators are divided into nodes and master locators, key parameters are configured, and the locators are deployed in an area; a positioning node sends a broadcast, a master locator selects a connection according to signal strength and an area position, and a Bluetooth self-organizing network is formed; the positioning node is connected with a target device and signal strength data is collected, the signal strength data is regularly transmitted to the master locator, and is then collected to a management background; and the background combines the node position and the target device distance, and determines the target position by using a three-side positioning algorithm. The application draws lessons from the quick pairing technology of TWS earphones, optimizes a connection process, greatly shortens network forming time, meets quick deployment requirements, regularly transmits data by the positioning node, centrally reports by the master locator, reduces energy consumption and maintenance costs, and by using a model and a three-side positioning algorithm, combines background data processing, realizes positioning operation, and is applicable to positioning scenes of different scales.

Description

Technical Field

[0001] This invention relates to the field of self-organizing network Bluetooth locator technology, specifically a low-power self-organizing network positioning method based on Bluetooth fast pairing. Background Technology

[0002] With the continuous development of IoT 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 suffer from slow networking speed and high power consumption. TWS earbuds, on the other hand, can complete the connection between the primary and secondary earbuds in a short time thanks to their fast pairing technology. TWS earbud fast pairing technology is mainly based on the optimization of the Bluetooth protocol, which significantly shortens the pairing connection time between devices through mechanisms such as preset channels and fast identity recognition. Currently, there is no mature solution that fully applies TWS earbud 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, which can eliminate the drawbacks of existing technical solutions. Summary of the Invention

[0004] The purpose of this 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 traditional Bluetooth networking methods in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

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

[0007] S1. Divide the locator into a positioning node and a main locator, configure the key parameters for quick pairing of TWS earphones and the basic positioning parameters for the positioning node and the main locator, and place the locator in multiple areas, wherein the radio frequency signal of the locator can cover the entire area.

[0008] S2. Several positioning nodes send broadcast information on a preset channel. The main locator continuously listens to the preset channel. After receiving the broadcast information, it selects the preferred positioning node to connect to based on the signal strength and the area location. The locators form a network through Bluetooth self-organizing 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 summarizes the data and transmits the information to the management backend device.

[0010] S4, the management background device combines the position information of the positioning nodes and the distance information between the target device and the nodes, calculates the position of the target device by using a trilateration algorithm, and locates the position of the target device and the locator according to the information.

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

[0012] Preferably, the step S2 further includes that the main locator selects a preferentially connected positioning node according to a signal strength threshold and an area priority, a connection is established between the preferentially connected positioning node and the main locator, a corresponding positioning node that has been connected to the network is taken as a relay to expand the network, broadcast of a new node is received and forwarded to the main locator, all the positioning nodes are connected to the network, and the ad hoc network is formed.

[0013] Preferably, the target device in the step S3 is a Bluetooth device configured with a Bluetooth node function and needing to determine a position, including a movable target device and a fixed target device, and the specific steps in which the positioning node establishes a connection with the target device include:

[0014] When the movable target device enters an area, the positioning node closest to the movable target device automatically pairs the device and establishes a connection with the device, the positioning node that establishes the connection measures a Bluetooth signal strength of the movable target device in real time, and records a measurement time and a corresponding ID;

[0015] If the distance between the movable target device and the initially connected positioning node exceeds a distance threshold, the connection is automatically disconnected, and automatic pairing and connection operations are simultaneously performed with other positioning nodes in the area, the other positioning nodes are set as locators closest to the movable target device, and the mobile positioning operation of the target device is realized;

[0016] If the distance threshold is not exceeded, the initially connected positioning node is continuously connected.

[0017] When the fixed target device is in the area, the positioning node closest to the fixed target device automatically pairs the device and establishes a connection with the device, the positioning node that establishes the connection measures a Bluetooth signal strength of the fixed target device in real time, and records a measurement time and a corresponding ID, and the positioning operation of the fixed target device is realized.

[0018] Preferably, the specific steps in which the target device position is calculated in the step S4 include:

[0019] The main locator receives the signal strength information sent by the plurality of positioning nodes, and simultaneously aggregates the position information of each node to transmit the position information of each node to the management background device;

[0020] The management background device obtains the distances between the target device and the at least three corresponding positioning nodes by using a signal propagation model;

[0021] The position of the target device is calculated by using a trilateration algorithm, and the position is displayed by the management background device, and the calculation formula of the trilateration algorithm is:

[0022] wherein (x, y) is the target position coordinate, (x1, y1), (x2, y2) and (x3, y3) are the coordinates of the three positioning nodes respectively, d1, d2 and d3 are the distances between the target device and the three positioning nodes, and the distances are calculated according to the signal strength by using the signal propagation model.

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

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

[0025] The locator comprises the positioning nodes and the main locator, all the positioning nodes collect the signal strength of the target device in real time, and transmit the signal strength to the main locator through the chain network, and the main locator is used for receiving and integrating all the data from the positioning nodes and reporting to the management background device;

[0026] The management background device is used for receiving the information transmitted by the main locator and calculating the position of the target device, so as to locate the position of the target device and the locator;

[0027] The target device is used for actively sending and receiving the Bluetooth signal and returning.

[0028] Preferably, the positioning node is used for executing configuration parameters, sending broadcast information, measuring the signal strength data of the target device and transmitting the signal strength data to the main locator, and comprises:

[0029] The first Bluetooth signal collection module is used for collecting the Bluetooth signal strength of the target device;

[0030] The first communication module is used for realizing communication connection with the main locator and other positioning nodes, establishing an ad hoc network link;

[0031] The first positioning module is used for providing node position information;

[0032] The first data processing module is used for performing pre-processing operation on data.

[0033] Preferably, the main locator is used for performing receiving broadcast information, selecting a connected positioning node, constructing an ad hoc network, and summarizing data and transmitting to a management background device, and comprises:

[0034] The second Bluetooth signal acquisition module is consistent with the structure of the first Bluetooth signal acquisition module;

[0035] The second communication module is consistent with the structure of the first communication module;

[0036] The second positioning module is consistent with the structure of the first positioning module;

[0037] The second data processing module is consistent with the structure of the first data processing module;

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

[0039] Preferably, the management background device comprises:

[0040] The data receiving module is used for receiving data information sent by the summary transmission module and supports multiple network protocols;

[0041] The data storage module is used for storing data information from the data receiving module;

[0042] The data analysis module is used for performing deep analysis on the stored data and calculating target device position information;

[0043] The device management module is used for monitoring the running state of the locator in real time;

[0044] The user interaction module provides a visual operation interface for the background management personnel;

[0045] The processor is used for executing a program of the low-power-consumption ad hoc network positioning method based on Bluetooth fast pairing to realize steps of the low-power-consumption ad hoc network positioning method based on Bluetooth fast pairing.

[0046] Compared with the prior art, the low-power-consumption ad hoc network positioning method based on Bluetooth fast pairing has the following beneficial effects:

[0047] 1、The present application optimizes the connection process between Bluetooth devices by borrowing the rapid pairing technology of TWS earphones, and the positioning node sends broadcast information on the preset channel, and the main locator quickly selects the connection object according to the signal strength and regional position, which greatly shortens the networking time, and compared with the traditional Bluetooth networking method, the positioning network can be deployed in a short time, which meets the needs of scenes such as large activities, emergency rescue and other scenes that require rapid deployment;

[0048] 2、The positioning node in the present application transmits data periodically instead of continuously working, which reduces unnecessary energy consumption, and the main locator centrally collects data and reports to the management background device, which avoids the waste of power consumption caused by simultaneous data uploading of multiple devices, reduces the maintenance cost and frequency;

[0049] 3、The present application uses the logarithmic distance path loss model to process the signal strength, combines the trilateration algorithm, and through the management background device, the data is deeply analyzed and corrected, which can meet the application scenes with high precision requirements such as asset tracking and personnel positioning, adopts the chain network topology structure, and the network can be expanded by using the in-network positioning node as a relay, receiving the broadcast of the new node and forwarding it to the main locator, which easily realizes the expansion of the network and can adapt to different scale positioning requirements;

[0050] 4、The management background device in the present application can centrally manage the locators, monitor the running state of the locators in real time, and generate maintenance prompts for the fault locators, which greatly improves the operation and maintenance efficiency and reduces the operation and maintenance cost compared with the traditional scattered management method. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 It is a method step schematic diagram of the present application.

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

[0053] Figure 3 It is a structure schematic diagram of the locator of the present application.

[0054] Figure 4 It is a structure schematic diagram of the positioning node of the present application.

[0055] Figure 5 It is a structure schematic diagram of the main locator of the present application.

[0056] Figure 6 It is a structure schematic diagram of the management background device of the present application.

[0057] Figure reference numerals: 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, aggregation and transmission module 125, management backend 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 Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0059] In this embodiment, as 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. This method imitates TWS earphones broadcasting pairing information on a fixed channel to shorten the discovery time, sets up an identity ID matching mechanism, and uses the unique ID of the positioning node 110 and the target device 300 for fast authentication. It also adopts a method similar to TWS earphones, activating the radio frequency module only during data transmission to reduce power consumption. The specific steps include:

[0060] Taking a large warehouse with an area of ​​100m × 50m as an example, this paper illustrates the specific implementation process of the low-power self-organizing network positioning method based on Bluetooth fast pairing:

[0061] S1. The locator 100 is divided into a positioning node 110 and a main locator 120. The key parameters for quick pairing of TWS earphones and the basic positioning parameters are configured for the positioning node 110 and the main locator 120. The locator 100 is placed in multiple areas, and the radio frequency signal of the locator 100 can cover the entire area.

[0062] Specifically, the locator 100 is divided into positioning nodes 110 and main locator 120. According to the layout of the warehouse, a positioning node 110 is deployed every 10 meters in the warehouse, for a total of 50 positioning nodes. The main locator 120 is placed in the warehouse management office to ensure that its radio frequency signal can cover the entire warehouse area. Key parameters for TWS earphone quick pairing are configured for each positioning node 110 and main locator 120. 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 main locator 120 continuously monitors the preset channel, and after receiving the broadcast information, selects a positioning node 110 to be preferentially connected according to signal strength and area position, and the locators 100 form a network through the Bluetooth ad hoc network function;

[0064] Specifically, after all the positioning nodes 110 are started, broadcast information is sent on a 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, and after receiving the broadcast information, selects a positioning node 110 to be preferentially connected according to signal strength and area position, and preferentially selects a positioning node with high signal strength such as RSSI≥-65dBm and located in a critical area such as a warehouse entrance, a passageway, etc. to be connected, and 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 a new node and forwards it to the main locator 120, the main locator 120 establishes a connection with the new node, and gradually connects all the positioning nodes 110 to the network to form an ad hoc network;

[0065] 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, and the positioning nodes 110 periodically transmit data information to the main locator 120 through the network, such as every 10 seconds, and the main locator 120 aggregates the data and then transmits the information to the management background device 200;

[0066] Specifically, the target device 300 in step S3 is a Bluetooth device configured with a Bluetooth node function and needing to determine the position, including movable target devices (such as forklifts, trolleys, etc.) and fixed target devices (such as large shelves, fixed devices, etc.), and the specific steps of the positioning node 110 establishing a connection with the target device 300 include:

[0067] When the movable target device enters the area, the positioning node 110 closest to the movable target device will automatically pair the device and establish a connection with it, the positioning node 110 that establishes the connection measures the Bluetooth signal strength of 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, an automatic pairing and connection operation is performed with other positioning nodes 110 in the area, the other positioning nodes 110 are set to be the closest locators to the movable target device, realizing the mobile positioning operation of the target device 300, and if the distance threshold is not exceeded, the initially connected positioning node 110 is continued to be connected;

[0068] When the fixed target device is in the area, the positioning node 110 closest to the fixed target device automatically pairs the device and establishes a connection with it, the positioning node 110 establishing the connection measures the Bluetooth signal strength of the fixed target device in real time, and records the measurement time and the corresponding ID, realizing the positioning operation of the fixed target device;

[0069] Specifically, when the forklift enters the warehouse area, the positioning node 110 closest to the forklift automatically pairs the device and establishes a connection with it, the positioning node 110 measures the Bluetooth signal strength of the forklift in real time, and records the measurement time and the corresponding ID, when the forklift moves, the distance between the forklift and the initial connection positioning node 110 exceeds the preset distance threshold, the distance threshold is 15 meters, the connection is automatically disconnected, and at the same time, the automatic pairing and connection operation with other closest positioning nodes 110 in the area is performed, realizing the dynamic positioning of the forklift. For the fixed shelves in the warehouse, the positioning node 110 closest to the shelf automatically pairs the device and establishes a connection, measures the Bluetooth signal strength of the shelf in real time, records the measurement time and the corresponding ID, and realizes the positioning of the fixed shelf;

[0070] S4, the management background device 200 combines the position information of the positioning nodes 110 and the distance information between the target device 300 and the nodes, and calculates the position of the target device 300 using the trilateration algorithm, and locates the position of the target device 300 and the positioner 100 according to the information;

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

[0072] After the main positioner 120 receives the forklift signal strength information sent by the plurality of positioning nodes 110, it simultaneously aggregates the position information of each node, such as the coordinates of positioning node A being (10, 10), the coordinates of positioning node B being (20, 15), and the coordinates of positioning node C being (15, 25), etc., and transmits the position information of each node to the management background device 200;

[0073] The management background device 200 obtains the distance between the target device 300 and at least three corresponding positioning nodes 110 using a signal propagation model;

[0074] The position of the target device 300 is calculated using the trilateration algorithm, and the position is displayed through the management background device 200, and the calculation formula of the trilateration algorithm is:

[0075] Wherein, the forklift (x, y) is the target position coordinate, (x1, y1), (x2, y2), (x3, y3) are the coordinates of the three positioning nodes A, B, C respectively, d1, d2, d3 are the distances between the target device 300 and the three positioning nodes 110, the distances are calculated according to the signal strength through the signal propagation model, and after the distances are known, the forklift (x, y) can be calculated through the formula, the signal propagation model is set as the logarithmic distance path loss model, and the model calculation formula is The distance calculation formula at the distance d is: Wherein, d0 is the reference distance, P r (d) is the received signal strength value at the distance d, which is obtained through on-site 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, n = 2.5 when the indoor space is open, and n = 3.5 when the indoor space is dense, X σ is a Gaussian distribution random variable with a mean of 0, for example, when the forklift is located at a certain position, d0 can be set to 1 meter, the signal strength value received by the positioning node A is -65 dBm, the signal strength value received by the positioning node B is -70 dBm, and the signal strength value received by the positioning node C is -60 dBm, the received signal strength value P r (d0) at the reference distance d0 is collected by the Bluetooth signal collection module, and is assumed to be -40 dBm, there are many shelves and other obstacles in the warehouse, which belongs to a dense obstacle environment, so the path loss index in this method is assumed to be 3.5, and the distance calculation formula is The distance between the forklift and the positioning node 110 is calculated, 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, the forklift coordinate (x, y) = (10.79, 18.54) is obtained according to the calculation formula of the three-edge positioning algorithm, the management background device 200 displays the calculated forklift position coordinate on the visual operation interface, the management personnel can intuitively see the specific position of the forklift in the warehouse, and the management background device 200 can record the historical position information of the forklift to form a historical track, so as to analyze and manage the running route and activity range of the forklift;

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

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

[0078] As shown in Figures 2-6 , the low-power ad hoc network positioning system comprises:

[0079] The locator 100 comprises the positioning node 110 and the main locator 120, all the positioning nodes 110 collect the signal strength of the target device 300 in real time, and transmit the signal strength to the main locator 120 through the chain network, the main locator 120 is used for receiving and integrating all the data from the positioning nodes 110 and reporting to the management background device 200, the chain network adopts a master-slave topology, the main locator 120 is the center node, and the positioning nodes 110 are relay nodes, and the positioning nodes 110 and the main locator 120 realize signal collection, data transmission and network management of the target device 300 through division of labor and cooperation;

[0080] Specifically, as shown in Figure 2 , the system adopts a chain network topology structure, the main locator 120 is taken as the center node, the positioning nodes 110 are connected in a relay mode, and the target device 300 is paired with the nearest positioning node 110;

[0081] The management background device 200 is used for receiving the information transmitted by the main locator 120 and calculating the position of the target device 300, and further positioning the position of the target device 300 and the locator 100;

[0082] The target device 300 is used for actively sending and receiving Bluetooth signals and returning;

[0083] Specifically, the target device 300 can actively send a Bluetooth broadcast signal to be identified and paired by the positioning node 110, and when the positioning node 110 initiates a pairing request, the target device 300 responds and establishes a connection, returns its signal strength data, follows the Bluetooth BLE protocol, supports basic operations such as broadcasting, scanning, and connection, ensures communication compatibility with the positioning node 110, adopts a periodic sleep mechanism, activates the Bluetooth module only when sending a broadcast or responding to a connection, and prolongs the battery life;

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

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

[0086] The first communication module 112 is used to realize communication connection with the main locator 120 and other positioning nodes, establish an ad hoc network link, realize communication connection with the main locator 120 and other positioning nodes based on the Bluetooth BLE protocol, support adaptive rate adjustment, have a relay forwarding function, can receive broadcast data packets of new nodes and forward them to the main locator 120, and construct a chain network topology;

[0087] The first positioning module 113 is used to provide node position information, is built-in with sensors such as an accelerometer and a gyroscope, assists in realizing self-position calibration, supports an external GPS module, and obtains accurate coordinates as a positioning reference;

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

[0089] Specifically, the positioning node 110 starts to load the preset channel, frequency hopping sequence, and other TWS pairing parameters, as well as the unique ID, initial coordinates, and other positioning basic parameters, periodically sends broadcast information containing the device ID and node type on the preset channel, and waits for the target device 300 or the main locator 120 to respond. When the movable target device enters the area, the nearest positioning node 110 automatically pairs and establishes a connection, collects the Bluetooth signal strength (RSSI) in real time, and records the measurement time and ID. If the target device moves more than the distance threshold, the connection is disconnected and re-paired with the nearest node. The first data processing module 114 performs sliding average filtering or Kalman filtering on the RSSI data to eliminate multipath effects and noise interference, improve data accuracy, and periodically transmit the preprocessed signal strength data and its own coordinates to the main locator 120 in a chain network relay manner. The positioning node 110 adopts an intermittent working mode, only activates the radio frequency module when broadcasting, receiving signals, or transmitting data, and enters a sleep state at other times to reduce energy consumption.

[0090] As shown in Figure 3 and Figure 5 The main locator 120 is configured to receive broadcast information, select connected positioning nodes 110, construct an ad hoc network, and aggregate 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 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 network topology management functions and can dynamically adjust node connection priorities to optimize data transmission paths.

[0093] The second positioning module 123 has the same structure as the first positioning module 113.

[0094] The second data processing module 124 has the same structure as the first data processing module 114.

[0095] The aggregation and transmission module 125 aggregates and arranges the received data information according to the preset data format and protocol, and sends it to the management background device 200 through the second communication module 122.

[0096] Specifically, the main locator 120 continuously monitors the preset channel, receives the broadcast information of the positioning node 110, selects the preferentially connected positioning node according to the signal strength and area position, establishes a connection with the preferentially connected positioning node 110, and then gradually receives and forwards the broadcast of the new node as a relay node until all the positioning nodes 110 are connected to form a chain self-organizing network. The second communication module 122 receives the signal strength data and position information transmitted by all the positioning nodes 110, integrates them into a unified format data packet, and sends the integrated data to the management background device 200 through the 4G / 5G or Wi-Fi network through the summary transmission module 125, avoiding the waste of power consumption 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 self-organizing network, and 4G / 5G / Wi-Fi is used for communication with the management background, realizing the cooperative work of short-distance networking and long-distance data reporting.

[0097] As shown in Figure 2 and Figure 6 The management background device 200 comprises:

[0098] The data receiving module 210 is configured to receive the data information sent by the summary transmission module 125 and support multiple network protocols.

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

[0100] The data analysis module 230 is configured to perform in-depth analysis on the stored data, calculate the position information of the target device 300, and correct and optimize the positioning results.

[0101] The device management module 240 is configured to monitor the running state of the locator 100 in real time, such as device power, signal strength, data transmission frequency, etc. When it is found that the power of the positioning node 110 is lower than 20% or the signal strength is abnormal, a warning is given and a maintenance prompt information is generated.

[0102] The user interaction module 250 provides a visual operation interface for the background management personnel, and the management personnel can view the real-time position, historical trajectory, etc. of the assets on the interface to realize accurate management of the warehouse assets.

[0103] The processor 260 is configured to execute the program of the low-power self-organizing network positioning method based on Bluetooth fast pairing to realize 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 the positioning node coordinates transmitted by the main locator 120 through various network protocols, the data storage module 220 archives and stores the data, and the data analysis module 230 determines the two-dimensional coordinates of the target device 300 by using the logarithmic distance path loss model and the trilateration algorithm, thereby achieving the positioning effect.

[0105] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A low-power ad hoc network positioning method based on Bluetooth fast pairing, characterized in that, The application is applied to a low-power self-organizing network positioning system based on Bluetooth fast pairing, and specifically comprises the following steps: S1, the locator (100) is divided into a positioning node (110) and a main locator (120), the positioning node (110) and the main locator (120) are configured with key parameters of TWS earphone fast pairing and positioning basic parameters, and the locator (100) is placed in multiple areas, and a 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, the main locator (120) continuously listens to the preset channel, and after receiving the broadcast information, selects a positioning node (110) to be preferentially connected according to signal strength and area position, and the locators (100) are connected through a Bluetooth self-organizing network function to form a network; S3, the positioning node (110) establishes a connection with the target device (300) and measures signal strength data of the target device (300) in real time, a plurality of positioning nodes (110) periodically transmit data information to the main locator (120) through the network, and the main locator (120) collects data and then transmits information to the management background device (200); S4, the management background device (200) combines position information of a plurality of positioning nodes (110) and distance information between the target device (300) and the nodes, calculates the position of the target device (300) by using a three-edge positioning algorithm, and locates the position of the target device (300) and the locator (100) according to the information; The key parameters in the step S1 include a preset channel and a frequency hopping sequence, the positioning basic parameters include a unique ID, initial coordinates and initial information of the locator (100), and the broadcast information in the step S2 includes a device ID of the locator (100) and a type of the positioning node (110); The step S2 further comprises the following steps: the main locator (120) selects a positioning node to be preferentially connected according to a signal strength threshold and an area priority, a preferentially connected positioning node (110) establishes a connection with the main locator (120), a corresponding positioning node (110) that has been connected to the network is used as a relay to expand the network, receives broadcast of a new node and forwards the broadcast to the main locator (120), connects all positioning nodes (110) to the network, and forms a self-organizing network; The specific steps of calculating the position of the target device in the step S4 include: After the main locator (120) receives signal strength information sent by a plurality of positioning nodes (110), the position information of each node is collected and transmitted to the management background device (200); The management background device (200) obtains distances between the target device (300) and at least three corresponding positioning nodes (110) by using a signal propagation model; The position of the target device (300) is calculated by using a trilateration algorithm, and the position is displayed by the management background device (200), wherein the calculation formula of the trilateration algorithm is: ; wherein, is the target position coordinate, , , are the coordinates of the three positioning nodes, , , are the distances between the target device (300) and the three positioning nodes (110), which are calculated from the signal strength by a signal propagation model. 2.The low-power self-organizing network positioning method based on Bluetooth fast pairing of claim 1, wherein, The target device (300) in the step S3 is a Bluetooth device provided with a Bluetooth node function and needing to determine a position, including a movable target device and a fixed target device, and 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 the device and establishes a connection with it, the positioning node (110) that establishes the connection measures the Bluetooth signal strength of 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 the distance threshold, the connection is automatically disconnected, and automatic pairing and connection operations are simultaneously performed with other positioning nodes (110) within the area, the other positioning nodes (110) are set as the closest positioners to the movable target device, and the mobile positioning operation of the target device (300) is realized; If the distance threshold is not exceeded, the initially connected positioning node (110) is continued to be connected; When the fixed target device is in the area, the positioning node (110) closest to the fixed target device automatically pairs the device and establishes a connection with it, the positioning node (110) that establishes the connection measures the Bluetooth signal strength of the fixed target device in real time, and records the measurement time and the corresponding ID, realizing the positioning operation of the fixed target device. 3.The low-power self-organizing network positioning method based on Bluetooth fast pairing of claim 2, wherein, The signal propagation model is set as a logarithmic distance path loss model, and the model calculation formula is as follows: The distance The formula for calculating the distance at a location is: ,in For reference distance, Distance The received signal strength value at that location, For reference distance The received signal strength value at that location, This is the path loss index. Let be a Gaussian distributed random variable with a mean of 0. 4.The low-power self-organizing network positioning method based on Bluetooth fast pairing of claim 1, wherein, The low-power self-organizing network positioning system comprises: The positioner (100) comprises positioning nodes (110) and a main positioner (120), all the positioning nodes (110) collect the signal strength of the target device (300) in real time, and transmit the signal strength to the main positioner (120) through a chain network, the main positioner (120) is used for receiving and integrating all the data from the positioning nodes (110) and reporting to the management background device (200), the chain network adopts a master-slave topology, the main positioner (120) is a center node, and the positioning nodes (110) are relay nodes; The management background device (200) is used for receiving the information transmitted by the main positioner (120) and calculating the position of the target device (300), and further positioning the position of the target device (300) and the positioner (100); The target device (300) is used for actively sending and receiving Bluetooth signals and returning.

5. The low-power ad hoc network positioning method based on Bluetooth fast pairing according to claim 4, characterized in that, The positioning node (110) is used for executing configuration parameters, sending broadcast information, measuring target device (300) signal strength data and transmitting to the main positioner (120), comprising: The first Bluetooth signal collection module (111) is used for collecting the Bluetooth signal strength of the target device (300); The first communication module (112) is used for realizing the communication connection with the main positioner (120) and other positioning nodes, establishing a self-organizing network link; The first positioning module (113) is used for providing node position information; The first data processing module (114) is used for pre-processing data.

6. The low-power ad hoc network positioning method based on Bluetooth fast pairing according to claim 5, characterized in that, The main positioner (120) is used for receiving broadcast information, selecting a connected positioning node (110), constructing a self-organizing network, and transmitting data to the management background device (200), comprising: The second Bluetooth signal collection module (121) is consistent in structure with the first Bluetooth signal collection module (111); A second communication module (122) is consistent with the structure of the first communication module (112); A second positioning module (123) is consistent with the structure of the first positioning module (113); A second data processing module (124) is consistent with the structure of the first data processing module (114); A summary transmission module (125) summarizes the received data information, and sends the data information to a management background device (200) through the second communication module (122) according to a preset data format and protocol.

7. The low-power ad hoc network positioning method based on Bluetooth fast pairing according to claim 6, characterized in that, The management background device (200) comprises: A data receiving module (210) is configured to receive data information sent by the summary transmission module (125) and support multiple network protocols; A data storage module (220) is configured to store data information from the data receiving module (210); A data analysis module (230) is configured to perform deep analysis on the stored data and calculate position information of the target device (300); A device management module (240) is configured to monitor a running state of the locator (100) in real time; A user interaction module (250) is configured to provide a visual operation interface for a background management personnel; A processor (260) is configured to execute a program for implementing the low-power-consumption self-organizing network positioning method based on the Bluetooth fast pairing to implement steps of the low-power-consumption self-organizing network positioning method based on the Bluetooth fast pairing.

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